add RoboDoz3r program

robots/ROBODOZ3R/README.md

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+# ROBODOZ3R
+
+> Designed by Mark Crosbie.
+>
+> This robot bulldozer can be controlled using the IR Beacon or it can drive on it’s own, avoiding obstacles while clearing and pushing things with its bulldozer bucket.
+
+The build instructions may be found at the official LEGO MINDSTROMS site [here](https://www.lego.com/cdn/cs/set/assets/bltfef825595f55768c/ROBODOZ3R.pdf)
+
+Control ROBODOZ3R as follows:
+
+- ROBODOZ3R starts with the User-Controlled Mode. You can switch between the User-Controlled Mode and the Autonomous Mode by pressing the Touch Sensor.
+
+- User-Controlled Mode:
+
+    - Drive ROBODOZ3R around according to instructions from Channel 1 of the IR Remote Control:
+        - 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
+
+    - Use Channel 4 of the IR Remote Control to make ROBODOZ3R raise the shovel by pressing either Up button, or lower the shovel by pressing either Down button
+
+- Autonomous Mode: ROBODOZ3R drives around on his own to clean up small things but avoids big obstacles by reversing and turning

robots/ROBODOZ3R/rc_tank_util.py

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+from ev3dev2.motor import \
+    Motor, LargeMotor, MoveSteering, MoveTank, \
+    OUTPUT_B, OUTPUT_C
+from ev3dev2.sensor import INPUT_4
+from ev3dev2.sensor.lego import InfraredSensor
+
+
+class RemoteControlledTank:
+    """
+    This reusable mixin provides the capability of driving a robot
+    with a Driving Base by the IR beacon
+    """
+    def __init__(
+            self,
+            left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
+            motor_class=LargeMotor, polarity: str = Motor.POLARITY_NORMAL,
+            ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
+        self.tank_driver = \
+            MoveTank(
+                left_motor_port=left_motor_port,
+                right_motor_port=right_motor_port,
+                motor_class=motor_class)
+
+        self.steer_driver = \
+            MoveSteering(
+                left_motor_port=left_motor_port,
+                right_motor_port=right_motor_port,
+                motor_class=motor_class)
+
+        self.tank_driver.left_motor.polarity = \
+            self.tank_driver.right_motor.polarity = \
+            self.steer_driver.left_motor.polarity = \
+            self.steer_driver.right_motor.polarity = polarity
+
+        self.ir_sensor = InfraredSensor(address=ir_sensor_port)
+        self.tank_drive_ir_beacon_channel = ir_beacon_channel
+
+    def drive_by_ir_beacon(self, speed: float = 100):
+        # forward
+        if self.ir_sensor.top_left(
+                    channel=self.tank_drive_ir_beacon_channel) and \
+                self.ir_sensor.top_right(
+                    channel=self.tank_drive_ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=speed,
+                right_speed=speed)
+
+        # backward
+        elif self.ir_sensor.bottom_left(
+                    channel=self.tank_drive_ir_beacon_channel) and \
+                self.ir_sensor.bottom_right(
+                    channel=self.tank_drive_ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=-speed,
+                right_speed=-speed)
+
+        # turn left on the spot
+        elif self.ir_sensor.top_left(
+                    channel=self.tank_drive_ir_beacon_channel) and \
+                self.ir_sensor.bottom_right(
+                    channel=self.tank_drive_ir_beacon_channel):
+            self.steer_driver.on(
+                steering=-100,
+                speed=speed)
+
+        # turn right on the spot
+        elif self.ir_sensor.top_right(
+                    channel=self.tank_drive_ir_beacon_channel) and \
+                self.ir_sensor.bottom_left(
+                    channel=self.tank_drive_ir_beacon_channel):
+            self.steer_driver.on(
+                steering=100,
+                speed=speed)
+
+        # turn left forward
+        elif self.ir_sensor.top_left(
+                    channel=self.tank_drive_ir_beacon_channel):
+            self.steer_driver.on(
+                steering=-50,
+                speed=speed)
+
+        # turn right forward
+        elif self.ir_sensor.top_right(
+                    channel=self.tank_drive_ir_beacon_channel):
+            self.steer_driver.on(
+                steering=50,
+                speed=speed)
+
+        # turn left backward
+        elif self.ir_sensor.bottom_left(
+                    channel=self.tank_drive_ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=0,
+                right_speed=-speed)
+
+        # turn right backward
+        elif self.ir_sensor.bottom_right(
+                    channel=self.tank_drive_ir_beacon_channel):
+            self.tank_driver.on(
+                left_speed=-speed,
+                right_speed=0)
+
+        # otherwise stop
+        else:
+            self.tank_driver.off(brake=False)

robots/ROBODOZ3R/robodoz3r.py

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+#!/usr/bin/env micropython
+
+
+from ev3dev2.motor import \
+    Motor, LargeMotor, MediumMotor, \
+    OUTPUT_A, OUTPUT_B, OUTPUT_C
+from ev3dev2.sensor import INPUT_1, INPUT_4
+from ev3dev2.sensor.lego import TouchSensor
+from ev3dev2.console import Console
+from ev3dev2.sound import Sound
+
+from time import sleep, time
+
+from rc_tank_util import RemoteControlledTank
+
+
+class RoboDoz3r(RemoteControlledTank):
+    def __init__(
+            self,
+            left_motor_port: str = OUTPUT_C, right_motor_port: str = OUTPUT_B,
+            shovel_motor_port: str = OUTPUT_A,
+            touch_sensor_port: str = INPUT_1,
+            ir_sensor_port: str = INPUT_4,
+            tank_drive_ir_beacon_channel: int = 1,
+            shovel_control_ir_beacon_channel: int = 4):
+        super().__init__(
+            left_motor_port=left_motor_port, right_motor_port=right_motor_port,
+            motor_class=LargeMotor, polarity=Motor.POLARITY_INVERSED,
+            ir_sensor_port=ir_sensor_port,
+            ir_beacon_channel=tank_drive_ir_beacon_channel)
+
+        self.shovel_motor = MediumMotor(address=shovel_motor_port)
+
+        self.touch_sensor = TouchSensor(address=touch_sensor_port)
+
+        self.shovel_control_ir_beacon_channel = \
+            shovel_control_ir_beacon_channel
+
+        self.console = Console()
+        self.speaker = Sound()
+
+    def raise_or_lower_shovel_once_by_ir_beacon(self):
+        """
+        If the channel 4 is selected on the IR remote
+        then you can control raising and lowering the shovel on the RoboDoz3r
+        - Raise the shovel by either Up button
+        - Raise the shovel by either Down button
+        """
+        # raise the shovel
+        if self.ir_sensor.top_left(
+                    channel=self.shovel_control_ir_beacon_channel) or \
+                self.ir_sensor.top_right(
+                    channel=self.shovel_control_ir_beacon_channel):
+            self.shovel_motor.on(
+                speed=10,
+                brake=False,
+                block=False)
+
+        # lower the shovel
+        elif self.ir_sensor.bottom_left(
+                    channel=self.shovel_control_ir_beacon_channel) or \
+                self.ir_sensor.bottom_right(
+                    channel=self.shovel_control_ir_beacon_channel):
+            self.shovel_motor.on(
+                speed=-10,
+                brake=False,
+                block=False)
+
+        else:
+            self.shovel_motor.off(brake=True)
+
+    def main(self, driving_speed: float = 100):
+        self.console.text_at(
+            text='ROBODOZ3R',
+            column=2,
+            row=2,
+            reset_console=False,
+            inverse=False,
+            alignment='L')
+
+        self.speaker.play_file(
+            wav_file='media/Motor start.wav',
+            volume=56,
+            play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
+
+        motor_idle_start_time = time()
+        while time() - motor_idle_start_time <= 2:
+            self.speaker.play_file(
+                wav_file='media/Motor idle.wav',
+                volume=51,
+                play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
+
+        while True:
+            while self.touch_sensor.is_released:
+                self.raise_or_lower_shovel_once_by_ir_beacon()
+                self.drive_by_ir_beacon(speed=driving_speed)
+                sleep(0.01)
+
+            self.speaker.play_file(
+                wav_file='media/Airbrake.wav',
+                volume=100,
+                play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
+
+            while self.touch_sensor.is_released:
+                if self.ir_sensor.proximity < 50:
+                    self.tank_driver.off(brake=True)
+
+                    sleep(1)
+
+                    self.tank_driver.on_for_seconds(
+                        left_speed=-30,
+                        right_speed=-30,
+                        seconds=1,
+                        brake=True,
+                        block=True)
+
+                    self.tank_driver.on_for_seconds(
+                        left_speed=50,
+                        right_speed=-50,
+                        seconds=1,
+                        brake=True,
+                        block=True)
+
+                else:
+                    self.tank_driver.on(
+                        left_speed=50,
+                        right_speed=50)
+
+                sleep(0.01)
+
+            self.speaker.play_file(
+                wav_file='media/Airbrake.wav',
+                volume=100,
+                play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
+
+
+if __name__ == '__main__':
+    ROBODOZ3R = RoboDoz3r()
+    ROBODOZ3R.main()