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Maze exploring with mindstorms EV3

This is a Python script for a LEGO Mindstorms EV3 robot to explore a 3-floor maze. The robot actively updates its map based on sonic and color sensor observations.

Requirements

  • LEGO Mindstorms EV3 set
  • Python and Pybricks library installed on your EV3 brick

Usage

  1. Install Python and the Pybricks library on your LEGO Mindstorms EV3 brick.
  2. Connect the motors and sensors to the appropriate ports on your EV3 brick according to the code configuration.
  3. Upload the main.py script to your EV3 brick.
  4. Run the script.

Configuration

You can customize the robot's driving parameters, sonic and maze settings, and color recognition ranges by modifying the Config class in the script.

Functionality

The script provides the following functionality:

  • The robot can rotate its head in different directions to look for obstacles using the ultrasonic sensor.
  • The robot uses a custom class RGBClassifier to recognize colors based on RGB values.
  • The Modules class contains functions for the robot's observation, such as looking in front, right, left, and under the color sensor to identify cells and obstacles.
  • The GyroPIDController class implements a PID controller using the gyro sensor to follow a desired yaw angle.
  • The CustomDriveBase class extends the built-in drivebase and contains methods to update the robot's position, orientation, and maze map.
  • The robot performs various actions based on the color of the cell it is on, such as saying the color aloud.

Exploration Process

The explore method in the CustomDriveBase class is the main function for the maze exploration process. The robot continuously explores the maze, updating the map as it moves, and taking actions based on the cell color. The robot can handle hills leading to different floors and obstacles blocking its path.

Note

This script is a basic implementation for a simple maze exploration task. There is room for improvement and optimization based on specific maze structures and requirements.