cp demos from ev3dev-lang-python

README.md

@@ -1 +1,73 @@
-# ev3dev-lang-python-demo
+# ev3dev demo programs
+
+This folder contains several demo programs that you can use to help you in
+developing your own code. Brief descriptions of each demo are provided below;
+you can access the full source code and some more detailed information on each
+by opening the respective folders above.
+
+To install these on your EV3, use git to clone the ev3dev-lang-python repository
+from github. Your EV3 will need Internet connectivty in order to clone the
+repository from github.
+```
+$ sudo apt-get install git
+$ git clone https://github.com/rhempel/ev3dev-lang-python.git
+```
+
+## Running A Program
+There are two ways to run a program. You can run a program from the command line
+or from the brickman interface.
+
+Note that for both running from the command line and running from Brickman the
+program **must be marked as an executable** and the **first line of the program
+must be** `#!/usr/bin/env python3`. To mark a program as executable run
+`chmod +x PROGRAM_NAME.py`. All of the demo programs are already marked as
+executable and already have `#!/usr/bin/env python3` so you should be fine, we
+only mention it so you know to do these things when writing your own programs.
+
+## Command Line
+To run one of the demo programs from the command line, cd to the directory and
+run the program via `./PROGRAM_NAME.py`. Example:
+```
+$ cd ev3dev-lang-python/demo/R3PTAR/
+$ ./r3ptar.py
+```
+## Brickman
+To run one of the demo programs from Brickman, select the program in the
+File Browser.
+
+## Demo Programs
+### BALANC3R
+
+Laurens Valk's BALANC3R - This robot uses the gyro sensor to balance on two
+wheels. Use the IR remote to control BALANC3R
+
+* http://robotsquare.com/2014/07/01/tutorial-ev3-self-balancing-robot/
+
+### EV3D4
+
+* http://www.lego.com/en-us/mindstorms/build-a-robot/ev3d4
+* EV3D4RemoteControl - Use the IR remote to control EV3D4
+* EV3D4WebControl - Use a web interface to control EV3D4. There is a desktop version and a mobile version, both support touchscreen so you can drive via your smartphone. The web server will listen on port 8000 so go to http://x.x.x.x:8000/
+
+### EXPLOR3R
+
+Lauren Valk's EXPLOR3R
+
+* http://robotsquare.com/2015/10/06/explor3r-building-instructions/
+
+### MINDCUB3R
+
+David Gilday's MINDCUB3R
+
+* http://mindcuber.com/
+
+### TRACK3R
+
+A basic example of Object Oriented programming where there is a base TRACK3R
+class with child classes for the various permutations of TRACK3R
+
+* http://www.lego.com/en-us/mindstorms/build-a-robot/track3r
+* TRACK3R.py
+* TRACK3RWithBallShooter
+* TRACK3RWithClaw
+* TRACK3RWithSpinner

robots/BALANC3R

@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+
+import logging
+from ev3dev.GyroBalancer import GyroBalancer
+
+
+class BALANC3R(GyroBalancer):
+    """
+    Laurens Valk's BALANC3R
+    http://robotsquare.com/2014/06/23/tutorial-building-balanc3r/
+    """
+    def __init__(self):
+        GyroBalancer.__init__(self,
+                              gainGyroAngle=1156,
+                              gainGyroRate=146,
+                              gainMotorAngle=7,
+                              gainMotorAngularSpeed=9,
+                              gainMotorAngleErrorAccumulated=3)
+
+
+if __name__ == '__main__':
+    logging.basicConfig(level=logging.DEBUG,
+                        format='%(asctime)s %(levelname)5s: %(message)s')
+    log = logging.getLogger(__name__)
+
+    log.info("Starting BALANC3R")
+    robot = BALANC3R()
+    robot.main()
+    log.info("Exiting BALANC3R")

robots/EV3D4/EV3D4RemoteControl.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+
+import logging
+import sys
+from ev3dev.auto import OUTPUT_A, OUTPUT_B, OUTPUT_C
+from ev3dev.helper import RemoteControlledTank, MediumMotor
+
+class EV3D4RemoteControlled(RemoteControlledTank):
+
+    def __init__(self, medium_motor=OUTPUT_A, left_motor=OUTPUT_C, right_motor=OUTPUT_B):
+        RemoteControlledTank.__init__(self, left_motor, right_motor)
+        self.medium_motor = MediumMotor(medium_motor)
+
+        if not self.medium_motor.connected:
+            log.error("%s is not connected" % self.medium_motor)
+            sys.exit(1)
+
+        self.medium_motor.reset()
+
+
+logging.basicConfig(level=logging.INFO,
+                    format='%(asctime)s %(levelname)5s: %(message)s')
+log = logging.getLogger(__name__)
+
+log.info("Starting EV3D4")
+ev3d4 = EV3D4RemoteControlled()
+ev3d4.main()
+log.info("Exiting EV3D4")

robots/EV3D4/EV3D4WebControl.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+
+import logging
+import sys
+from ev3dev.auto import OUTPUT_A, OUTPUT_B, OUTPUT_C
+from ev3dev.helper import MediumMotor
+from ev3dev.webserver import WebControlledTank
+
+class EV3D4WebControlled(WebControlledTank):
+
+    def __init__(self, medium_motor=OUTPUT_A, left_motor=OUTPUT_C, right_motor=OUTPUT_B):
+        WebControlledTank.__init__(self, left_motor, right_motor)
+        self.medium_motor = MediumMotor(medium_motor)
+
+        if not self.medium_motor.connected:
+            log.error("%s is not connected" % self.medium_motor)
+            sys.exit(1)
+
+        self.medium_motor.reset()
+
+
+logging.basicConfig(level=logging.INFO,
+                    format='%(asctime)s %(levelname)5s: %(message)s')
+log = logging.getLogger(__name__)
+
+log.info("Starting EV3D4")
+ev3d4 = EV3D4WebControlled()
+ev3d4.main()  # start the web server
+log.info("Exiting EV3D4")

robots/EV3D4/README.md

@@ -0,0 +1,46 @@
+# EV3D4
+EV3D4 is designed to look like R2-D2 from Star Wars. There are two options for
+controlling EV3D4. The first is to use the IR remote to send commands to the IR
+sensor, run EV3D4RemoteControl.py to use this method. The second means of
+controlling EV3D4 is via a web browser, run EV3D4WebControl.py to use this method.
+You can run both of these from the Brickman interface or if logged in via ssh
+you can run them via ./EV3D4RemoteControl.py or ./EV3D4WebControl.py.
+
+**Building instructions**: https://www.lego.com/en-us/mindstorms/build-a-robot/ev3d4
+
+### EV3D4RemoteControl
+EV3D4RemoteControl.py creates a child class of ev3dev/helper.py's
+RemoteControlledTank.
+
+
+### EV3D4WebControl
+EV3D4WebControl creates a child class of ev3dev/webserver.py's WebControlledTank.
+The WebControlledTank class runs a web server that serves the web pages,
+images, etc but it also services the AJAX calls made via the client. The user
+loads the initial web page at which point they choose the "Desktop interface"
+or the "Mobile Interface".
+
+Desktop Interface - The user is presented with four arrows for moving forwards,
+backwards, spinning clockwise or spinning counter-clockwise. Two additional
+buttons are provided for controlling the medium motor. There are two sliders,
+one to control the speed of the tank and the other to control the speed of the
+medium motor.
+
+Mobile Interface - The user is presented with a virtual joystick that is used
+to control the movements of the robot. Slide your thumb forward and the robot
+moves forward, slide it to the right and the robot spins clockwise, etc. The
+further you move the joystick towards the edge of the circle the faster the
+robot moves. Buttons and a speed slider for the medium motor are also provided.
+
+Both interfaces have touch support so you can use either Desktop or Mobile from
+your smartphone. When the user clicks/touches a button some jQuery code will
+fire off an AJAX call to let the EV3D4 web server know what the user clicked or
+where the joystick is if using the Mobile Interface. The web server in
+WebControlledTank services this AJAX call and adjust motor speed/power
+accordingly.
+
+You can see a demo of the web interface below. Note that the demo is on a
+simple Tank robot, not EV3D4, but that doesn't really matter as EV3D4 is also
+just a Tank robot.
+
+**Demo Video**: https://www.youtube.com/watch?v=x5VauXr7W4A

robots/EV3D4/desktop.html

@@ -0,0 +1,47 @@
+<!DOCTYPE>
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="content-type" content="text/html; charset=utf-8" />
+<link rel="shortcut icon" href="favicon.ico">
+<link rel="stylesheet" type="text/css" href="/include/tank.css" media="screen" />
+<link rel="stylesheet" href="https://ajax.googleapis.com/ajax/libs/jqueryui/1.12.0/themes/smoothness/jquery-ui.css">
+<script src="https://ajax.googleapis.com/ajax/libs/jquery/1.12.4/jquery.min.js"></script>
+<script src="https://ajax.googleapis.com/ajax/libs/jqueryui/1.12.0/jquery-ui.min.js"></script>
+<script src="/include/jquery.ui.touch-punch.min.js"></script>
+<script src="/include/tank-desktop.js"></script>
+<title>Lego Tank</title>
+</head>
+<body>
+<div class='alignCenter'>
+<div id='header'>
+</div>
+
+<div id='controls'>
+    <img class='button nav' id='ArrowUp' src='/include/ArrowUp.png' />
+    <div class='clear'></div>
+
+    <img class='button nav' id='ArrowLeft' src='/include/ArrowLeft.png' />
+    <img id='body' src='/include/tank.png' />
+    <img class='button nav' id='ArrowRight' src='/include/ArrowRight.png' />
+    <div class='clear'></div>
+
+    <img class='button nav' id='ArrowDown' src='/include/ArrowDown.png' />
+    <div class='clear'></div>
+</div>
+
+<div id='desktop-medium-motor-spin'>
+    <img class='button medium CounterClockwise' src='/include/ArrowClockwise.png' />
+    <img class='button medium Clockwise' src='/include/ArrowClockwise.png' />
+    <br>
+    <div id="medium-motor-speed"></div>
+    <label for="medium-motor-speed">Medium Motor Speed</label>
+    <br>
+    <div id="tank-speed"></div>
+    <label for="tank-speed">Tank Speed</label>
+</div>
+
+<div class='clear'></div>
+
+</div> <!-- alignCenter -->
+</body>
+</html>

robots/EV3D4/include/jquery.ui.touch-punch.min.js

@@ -0,0 +1,11 @@
+/*!
+ * jQuery UI Touch Punch 0.2.3
+ *
+ * Copyright 2011-2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
+ *  jquery.ui.widget.js
+ *  jquery.ui.mouse.js
+ */
+!function(a){function f(a,b){if(!(a.originalEvent.touches.length>1)){a.preventDefault();var c=a.originalEvent.changedTouches[0],d=document.createEvent("MouseEvents");d.initMouseEvent(b,!0,!0,window,1,c.screenX,c.screenY,c.clientX,c.clientY,!1,!1,!1,!1,0,null),a.target.dispatchEvent(d)}}if(a.support.touch="ontouchend"in document,a.support.touch){var e,b=a.ui.mouse.prototype,c=b._mouseInit,d=b._mouseDestroy;b._touchStart=function(a){var b=this;!e&&b._mouseCapture(a.originalEvent.changedTouches[0])&&(e=!0,b._touchMoved=!1,f(a,"mouseover"),f(a,"mousemove"),f(a,"mousedown"))},b._touchMove=function(a){e&&(this._touchMoved=!0,f(a,"mousemove"))},b._touchEnd=function(a){e&&(f(a,"mouseup"),f(a,"mouseout"),this._touchMoved||f(a,"click"),e=!1)},b._mouseInit=function(){var b=this;b.element.bind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),c.call(b)},b._mouseDestroy=function(){var b=this;b.element.unbind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),d.call(b)}}}(jQuery);