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| Original file line number | Diff line number | Diff line change |
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| #!/usr/bin/env pybricks-micropython | ||
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| from pybricks.hubs import EV3Brick | ||
| from pybricks.ev3devices import Motor | ||
| from pybricks.parameters import Port, Stop, Button | ||
| from pybricks.tools import wait | ||
| from pybricks.messaging import BluetoothMailboxServer, TextMailbox | ||
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| SPEED = 100 | ||
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| class SpikeMonitor: | ||
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| def __init__(self): | ||
| # Initialize devices. | ||
| self.ev3 = EV3Brick() | ||
| self.usb_motor = Motor(Port.D) | ||
| self.left_motor = Motor(Port.B) | ||
| self.right_motor = Motor(Port.A) | ||
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| # Relax target tolerances so the motion is considered complete even | ||
| # if off by a few more degrees than usual. This way, it won't block. | ||
| # But set speed tolerance strict, so we move at least until fully | ||
| # stopped, which is when we are pressing the button. | ||
| self.left_motor.control.target_tolerances(speed=0, position=30) | ||
| self.right_motor.control.target_tolerances(speed=0, position=30) | ||
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| # Run all motors to end points. | ||
| self.targets = { | ||
| 'usb_in': self.usb_motor.run_until_stalled(-SPEED, duty_limit=50) + 10, | ||
| 'usb_out': self.usb_motor.run_until_stalled(SPEED, duty_limit=50) - 10, | ||
| 'center_pressed': self.left_motor.run_until_stalled(-SPEED, duty_limit=50) + 10, | ||
| 'left_pressed': self.left_motor.run_until_stalled(SPEED, duty_limit=50), | ||
| 'right_pressed': self.right_motor.run_until_stalled(SPEED, duty_limit=50) + 10, | ||
| 'bluetooth_pressed': self.right_motor.run_until_stalled(-SPEED, duty_limit=50) - 10, | ||
| } | ||
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| # Set other targets between end points. | ||
| self.targets['left_released'] = (self.targets['left_pressed'] + self.targets['center_pressed']) / 2 | ||
| self.targets['center_released'] = self.targets['left_released'] | ||
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| self.targets['right_released'] = (self.targets['right_pressed'] + self.targets['bluetooth_pressed']) / 2 | ||
| self.targets['bluetooth_released'] = self.targets['right_released'] | ||
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| # Get in initial state. | ||
| self.press_center(False) | ||
| self.press_bluetooth(False) | ||
| self.insert_usb(False) | ||
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| # Turn the hub off. | ||
| self.shutdown() | ||
| self.ev3.speaker.beep() | ||
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| def insert_usb(self, insert): | ||
| key = 'usb_in' if insert else 'usb_out' | ||
| self.usb_motor.run_target(SPEED, self.targets[key]) | ||
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| def press_left(self, press): | ||
| if press: | ||
| self.left_motor.run_target(SPEED, self.targets['left_pressed']) | ||
| self.left_motor.dc(80) | ||
| else: | ||
| while abs(self.left_motor.speed()) > 100: | ||
| wait(10) | ||
| self.left_motor.run_target(SPEED, self.targets['left_released'], Stop.COAST) | ||
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| def press_center(self, press): | ||
| if press: | ||
| self.left_motor.run_target(SPEED, self.targets['center_pressed']) | ||
| else: | ||
| self.left_motor.run_target(SPEED, self.targets['center_released'], Stop.COAST) | ||
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| def press_right(self, press): | ||
| if press: | ||
| self.right_motor.run_target(SPEED, self.targets['right_pressed']) | ||
| else: | ||
| self.right_motor.run_target(SPEED, self.targets['right_released'], Stop.COAST) | ||
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| def press_bluetooth(self, press): | ||
| if press: | ||
| self.right_motor.run_target(SPEED, self.targets['bluetooth_pressed']) | ||
| self.right_motor.dc(-100) | ||
| else: | ||
| while abs(self.right_motor.speed()) > 100: | ||
| wait(10) | ||
| self.right_motor.run_target(SPEED, self.targets['bluetooth_released'], Stop.COAST) | ||
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| def click_center(self, duration=100): | ||
| self.press_center(False) | ||
| self.press_center(True) | ||
| wait(duration) | ||
| self.press_center(False) | ||
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| def click_bluetooth(self, duration=200): | ||
| self.press_bluetooth(False) | ||
| self.press_bluetooth(True) | ||
| wait(duration) | ||
| self.press_bluetooth(False) | ||
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| def click_left(self, duration=100): | ||
| self.press_left(False) | ||
| self.press_left(True) | ||
| wait(duration) | ||
| self.press_left(False) | ||
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| def click_right(self, duration=100): | ||
| self.press_right(False) | ||
| self.press_right(True) | ||
| wait(duration) | ||
| self.press_right(False) | ||
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| def activate_dfu(self): | ||
| self.press_bluetooth(True) | ||
| wait(600) | ||
| self.insert_usb(True) | ||
| wait(8000) | ||
| self.press_bluetooth(False) | ||
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| def shutdown(self): | ||
| self.click_center(duration=4000) | ||
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| def test_buttons(self): | ||
| while True: | ||
| while True: | ||
| pressed = self.ev3.buttons.pressed() | ||
| if any(pressed): | ||
| break | ||
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| if Button.CENTER in pressed: | ||
| self.click_center() | ||
| elif Button.UP in pressed: | ||
| self.click_bluetooth() | ||
| elif Button.LEFT in pressed: | ||
| self.click_left() | ||
| elif Button.RIGHT in pressed: | ||
| self.click_right() | ||
| elif Button.DOWN in pressed: | ||
| break | ||
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| while any(self.ev3.buttons.pressed()): | ||
| wait(10) | ||
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| if __name__ == "__main__": | ||
| spike = SpikeMonitor() | ||
| spike.test_buttons() | ||
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