add Bobb3e program (ev3dev1)

robots/BOBB3E/README.md

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+# BOBB3E
+
+> Designed by Kenneth Ravnshøj Madsen
+>
+> This remote controlled Bobcat® can be steered to move and lift objects with the control buttons on the IR Beacon.
+
+The build instructions may be found at the official LEGO MINDSTROMS site [here](https://www.lego.com/cdn/cs/set/assets/blt1e45d9c2a9800e3c/BOBB3E.pdf).
+
+Control BOBB3E as follows:
+
+- Make BOBB3E lower the forks by pressing the IR Remote Control's 2 Left Buttons together; make him raise the forks by pressing the 2 Right Buttons together
+
+- Drive BOBB3E around according to instructions from the IR Beacon:
+    - 2 Top/Up Buttons together: drive forward
+    - 2 Bottom/Down Buttons together: drive backward
+    - Top-Left/Red-Up and Bottom-Right/Blue-Down together: turn left on the spot
+    - Top-Right/Blue-Up and Bottom-Left/Red-Down together: turn right on the spot
+    - Top-Left/Red-Up: turn left forward
+    - Top-Right/Blue-Up: turn right forward
+    - Bottom-Left/Red-Down: turn left backward
+    - Bottom-Right/Blue-Down: turn right backward
+
+- BOBB3E beeps his alarm whenever reversing

robots/BOBB3E/bobb3e.py

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+#!/usr/bin/env python3
+
+
+from ev3dev.ev3 import (
+    Motor, MediumMotor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C,
+    InfraredSensor, RemoteControl, INPUT_4,
+    Screen, Sound
+)
+
+from threading import Thread
+from time import sleep
+
+
+class Bobb3e:
+    def __init__(
+            self,
+            left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
+            lift_motor_port: str = OUTPUT_A,
+            ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
+        self.left_motor = LargeMotor(address=left_motor_port)
+        self.right_motor = LargeMotor(address=right_motor_port)
+        self.left_motor.polarity = self.right_motor.polarity = \
+            Motor.POLARITY_INVERSED
+
+        self.lift_motor = MediumMotor(address=lift_motor_port)
+
+        self.ir_sensor = InfraredSensor(address=ir_sensor_port)
+        self.remote_control = RemoteControl(sensor=self.ir_sensor,
+                                            channel=ir_beacon_channel)
+
+        self.screen = Screen()
+        self.speaker = Sound()
+
+        self.reversing = False
+
+    def drive_or_operate_forks_by_ir_beacon(self, driving_speed: float = 1000):
+        """
+        Read the commands from the remote control and convert them into actions
+        such as go forward, lift and turn.
+        """
+        while True:
+            # lower the forks
+            if self.remote_control.red_up and self.remote_control.red_down:
+                self.reversing = False
+
+                self.left_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+                self.right_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+                self.lift_motor.run_forever(speed_sp=100)
+
+            # raise the forks
+            elif self.remote_control.blue_up and self.remote_control.blue_down:
+                self.reversing = False
+
+                self.left_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+                self.right_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+                self.lift_motor.run_forever(speed_sp=-100)
+
+            # forward
+            elif self.remote_control.red_up and self.remote_control.blue_up:
+                self.reversing = False
+
+                self.left_motor.run_forever(speed_sp=driving_speed)
+                self.right_motor.run_forever(speed_sp=driving_speed)
+
+                self.lift_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+            # backward
+            elif self.remote_control.red_down and \
+                    self.remote_control.blue_down:
+                self.reversing = True
+
+                self.left_motor.run_forever(speed_sp=-driving_speed)
+                self.right_motor.run_forever(speed_sp=-driving_speed)
+
+                self.lift_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+            # turn left on the spot
+            elif self.remote_control.red_up and self.remote_control.blue_down:
+                self.reversing = False
+
+                self.left_motor.run_forever(speed_sp=-driving_speed)
+                self.right_motor.run_forever(speed_sp=driving_speed)
+
+                self.lift_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+            # turn right on the spot
+            elif self.remote_control.red_down and self.remote_control.blue_up:
+                self.reversing = False
+
+                self.left_motor.run_forever(speed_sp=driving_speed)
+                self.right_motor.run_forever(speed_sp=-driving_speed)
+
+                self.lift_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+            # turn left forward
+            elif self.remote_control.red_up:
+                self.reversing = False
+
+                self.right_motor.run_forever(speed_sp=driving_speed)
+
+                self.lift_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+            # turn right forward
+            elif self.remote_control.blue_up:
+                self.reversing = False
+
+                self.left_motor.run_forever(speed_sp=driving_speed)
+
+                self.lift_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+            # turn left backward
+            elif self.remote_control.red_down:
+                self.reversing = True
+
+                self.right_motor.run_forever(speed_sp=-driving_speed)
+
+                self.lift_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+            # turn right backward
+            elif self.remote_control.blue_down:
+                self.reversing = True
+
+                self.left_motor.run_forever(speed_sp=-driving_speed)
+
+                self.lift_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+            # otherwise stop
+            else:
+                self.reversing = False
+
+                self.left_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+                self.right_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+                self.lift_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+            sleep(0.01)
+
+    def sound_alarm_whenever_reversing(self):
+        while True:
+            if self.reversing:
+                self.speaker.play(wav_file='Backing alert.wav').wait()
+
+            sleep(0.01)
+
+    def main(self, driving_speed: float = 1000):
+        self.screen.draw.text(
+            xy=(3, 2),
+            text='BOBB3E',
+            fill=None,
+            font=None,
+            anchor=None,
+            spacing=4,
+            align='left',
+            direction=None,
+            features=None,
+            language=None,
+            stroke_width=0,
+            stroke_fill=None)
+        self.screen.update()
+
+        Thread(target=self.sound_alarm_whenever_reversing,
+               daemon=True).start()
+
+        self.drive_or_operate_forks_by_ir_beacon(driving_speed=driving_speed)
+
+
+if __name__ == '__main__':
+    BOBB3E = Bobb3e()
+    BOBB3E.main(driving_speed=1000)