add tank

samples/micropython/tank/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

samples/micropython/tank/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		}
+	]
+}

samples/micropython/tank/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

samples/micropython/tank/devices.py

@@ -0,0 +1,47 @@
+# list input devices
+
+class InputDevice():
+    def __init__(self):
+        self.name = ''
+        self.handler = ''
+
+    def __str__(self):
+        return '<Input Device: name=%s, handler=%s>' % (self.name, self.handler)
+
+    def setName(self, name):
+        if len(name) >= 2 and name.startswith('"') and name.endswith('"'):
+            name = name[1:len(name)-1]
+        self.name = name
+
+    def setHandler(self, handlers):
+        for handler in handlers.split(' '):
+            if handler.startswith('event'):
+                self.handler = handler
+
+def listDevices():
+    devices = []
+    with open('/proc/bus/input/devices', 'r') as f:
+        device = None
+        while True:
+            s = f.readline()
+            if s == '':
+                break
+            s = s.strip()
+            if s == '':
+                devices.append(device)
+                device = None
+            else:
+                if device is None:
+                    device = InputDevice()
+                if s.startswith('N: Name='):
+                    device.setName(s[8:])
+                elif s.startswith('H: Handlers='):
+                    device.setHandler(s[12:])
+    return devices
+
+def detectJoystick(joystickNames):
+    for device in listDevices():
+        for joystickName in joystickNames:
+            if joystickName in device.name:
+                return '/dev/input/%s' % device.handler
+    return None

samples/micropython/tank/joystick.py

@@ -0,0 +1,61 @@
+# joystick control:
+
+import struct
+
+# define button code:
+
+BUTTON_A = 305
+BUTTON_B = 304
+BUTTON_X = 307
+BUTTON_Y = 306
+BUTTON_PLUS = 313
+BUTTON_MINUS = 312
+BUTTON_START = 317
+BUTTON_HOME = 316 
+
+class JoyStick():
+    def __init__(self, eventFile):
+        self.eventFile = eventFile
+        self.buttonHandler = None
+        self.joyLeftHandler = None
+        self.joyRightHandler = None
+
+    def setButtonHandler(self, buttonHandler):
+        self.buttonHandler = buttonHandler
+
+    def setJoyLeftHandler(self, joyLeftHandler):
+        self.joyLeftHandler = joyLeftHandler
+
+    def setJoyRightHandler(self, joyRightHandler):
+        self.joyRightHandler = joyRightHandler
+
+    def startLoop(self):
+        FORMAT = 'llHHI'
+        EVENT_SIZE = struct.calcsize(FORMAT)
+        with open(self.eventFile, 'rb') as infile:
+            lx, ly, rx, ry = 0, 0, 0, 0
+            while True:
+                event = infile.read(EVENT_SIZE)
+                _, _, t, c, v = struct.unpack(FORMAT, event)
+                if t == 1 and v == 1:
+                    # button pressed:
+                    if self.buttonHandler:
+                        if not self.buttonHandler(c):
+                            return
+                if t == 3:
+                    if c == 0 and self.joyLeftHandler:
+                        # left stick & horizontal:
+                        lx = v - 32768
+                        self.joyLeftHandler(lx, ly)
+                    elif c == 1 and self.joyLeftHandler:
+                        # left stick & vertical:
+                        ly = v - 32768
+                        self.joyLeftHandler(lx, ly)
+                    elif c == 3 and self.joyRightHandler:
+                        # right stick & horizontal:
+                        rx = v - 32768
+                        self.joyRightHandler(rx, ry)
+                    elif c == 4 and self.joyRightHandler:
+                        # right stick & vertical:
+                        ry = v - 32768
+                        self.joyRightHandler(rx, ry)

samples/micropython/tank/main.py

@@ -0,0 +1,103 @@
+#!/usr/bin/env pybricks-micropython
+
+import struct, threading
+
+from pybricks import ev3brick as brick
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor, InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import (Port, Stop, Direction, Button, Color, SoundFile, ImageFile, Align)
+from pybricks.tools import print, wait, StopWatch
+from pybricks.robotics import DriveBase
+
+from devices import detectJoystick
+from joystick import JoyStick, BUTTON_A, BUTTON_X
+
+SPEED = 100
+STEERING = 90
+
+STATUS_STOPPED = 0
+STATUS_FORWARD = 1
+STATUS_BACKWARD = 2
+STATUS_STEERING = 3
+
+COLORS = (None, Color.GREEN, Color.RED, Color.YELLOW)
+
+class Driver():
+    def __init__(self, leftMotor, rightMotor, diameter, axle):
+        self.driver = DriveBase(leftMotor, rightMotor, diameter, axle)
+        self.x = 0
+        self.y = 0
+        self.speed = 0
+        self.steering = 0
+
+    def drive(self, speed, steering):
+        self.speed = speed
+        self.steering = steering
+        if self.speed == 0:
+            self.driver.stop()
+        else:
+            self.driver.drive(self.speed, self.steering)
+
+class Robot():
+    def __init__(self, leftMotor, rightMotor, topMotor, diameter, axle, maxSpeed=300, maxSteering=180, port=Port.S4):
+        self.driver = Driver(leftMotor, rightMotor, diameter, axle)
+        self.cannon = topMotor
+        self.ultrasonic = UltrasonicSensor(port)
+        self.speedStep = 32767 // maxSpeed
+        self.steeringStep = 32767 // maxSteering
+        self.active = True
+
+    def drive(self, x, y):
+        # map y (-32768 ~ +32767) to speed (+maxSpeed ~ -maxSpeed):
+        speed = -y // self.speedStep
+        # map x (-32768 ~ +32767) to steering (-maxSteering ~ +maxSteering):
+        steering = x // self.steeringStep
+        self.driver.drive(speed, steering)
+
+    def target(self, x):
+        self.cannon.run(-x // 327)
+
+    def fire(self):
+        brick.sound.file('cannon.wav')
+
+    def inactive(self):
+        self.active = False
+        self.drive(0, 0)
+        brick.sound.beep()
+
+def autoStopLoop(robot):
+    while robot.active:
+        if robot.ultrasonic.distance() < 200:
+            robot.drive(0, 0)
+        wait(100)
+
+def main():
+    brick.sound.beep()
+    joystickEvent = detectJoystick(['Controller'])
+    if joystickEvent:
+        robot = Robot(Motor(Port.D), Motor(Port.A), Motor(Port.B), 55, 200)
+        t = threading.Thread(target=autoStopLoop, args=(robot,))
+        t.start()
+
+        def onButtonPressed(code):
+            if code == BUTTON_X:
+                robot.inactive()
+                return False
+            if code == BUTTON_A:
+                robot.fire()
+            return True
+
+        def onLeftJoyChanged(x, y):
+            robot.drive(x, y)
+
+        def onRightJoyChanged(x, y):
+            robot.target(x)
+
+        joystick = JoyStick(joystickEvent)
+        joystick.setButtonHandler(onButtonPressed)
+        joystick.setJoyLeftHandler(onLeftJoyChanged)
+        joystick.setJoyRightHandler(onRightJoyChanged)
+        joystick.startLoop()
+    else:
+        brick.sound.beep()
+
+main()