https://wiki.robotika.sk/robowiki/index.php?action=history&feed=atom&title=Tutorial_-_Code
Tutorial - Code - Revision history
2026-05-05T02:09:03Z
Revision history for this page on the wiki
MediaWiki 1.30.0
https://wiki.robotika.sk/robowiki/index.php?title=Tutorial_-_Code&diff=11321&oldid=prev
Robot at 08:08, 8 June 2024
2024-06-08T08:08:37Z
<p></p>
<table class="diff diff-contentalign-left" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr style="vertical-align: top;" lang="en">
<td colspan="2" style="background-color: white; color:black; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: white; color:black; text-align: center;">Revision as of 08:08, 8 June 2024</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l99" >Line 99:</td>
<td colspan="2" class="diff-lineno">Line 99:</td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>     print(colorSensor.get_color())</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>     print(colorSensor.get_color())</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>     time.sleep(2)</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>     time.sleep(2)</div></td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>     colorSensor.wait_until_color("<del class="diffchange diffchange-inline">Red</del>")</div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>     colorSensor.wait_until_color("<ins class="diffchange diffchange-inline">red</ins>")</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>     print("Red color detected. Continue...")</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>     print("Red color detected. Continue...")</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>     colorSensor.wait_for_new_color()</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>     colorSensor.wait_for_new_color()</div></td></tr>
</table>
Robot
https://wiki.robotika.sk/robowiki/index.php?title=Tutorial_-_Code&diff=11294&oldid=prev
Robot at 10:04, 6 June 2024
2024-06-06T10:04:38Z
<p></p>
<table class="diff diff-contentalign-left" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr style="vertical-align: top;" lang="en">
<td colspan="2" style="background-color: white; color:black; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: white; color:black; text-align: center;">Revision as of 10:04, 6 June 2024</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l1" >Line 1:</td>
<td colspan="2" class="diff-lineno">Line 1:</td></tr>
<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Return back to project page: [[Spike Prime - <del class="diffchange diffchange-inline">Line Following Car </del>- Jakub Vojtek| <del class="diffchange diffchange-inline">Line Following Car </del>- Jakub Vojtek]]</div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>Return back to project page: [[Spike Prime - <ins class="diffchange diffchange-inline">Tutorial </ins>- Jakub Vojtek| <ins class="diffchange diffchange-inline">Tutorial </ins>- Jakub Vojtek]]</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>Python code for the Line Following Car project:</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>Python code for the Line Following Car project:</div></td></tr>
</table>
Robot
https://wiki.robotika.sk/robowiki/index.php?title=Tutorial_-_Code&diff=11293&oldid=prev
Robot: Created page with "Return back to project page: Line Following Car - Jakub Vojtek Python code for the Line Following Car project: <syntaxhig..."
2024-06-06T10:03:56Z
<p>Created page with "Return back to project page: <a href="/robowiki/index.php?title=Spike_Prime_-_Line_Following_Car_-_Jakub_Vojtek" title="Spike Prime - Line Following Car - Jakub Vojtek"> Line Following Car - Jakub Vojtek</a> Python code for the Line Following Car project: <syntaxhig..."</p>
<p><b>New page</b></p><div>Return back to project page: [[Spike Prime - Line Following Car - Jakub Vojtek| Line Following Car - Jakub Vojtek]]<br />
<br />
Python code for the Line Following Car project:<br />
<syntaxhighlight lang=python> <br />
<br />
# All of buildhat documentation (source): https://buildhat.readthedocs.io/en/latest/hub_index.html<br />
<br />
from buildhat import Motor, MotorPair, DistanceSensor, ColorSensor, ForceSensor<br />
import time<br />
import cv2<br />
import pygame<br />
from pynput import keyboard as kb<br />
<br />
<br />
# Comment out motor or motorPair you cant run both because we don't have enough ports (add arguments from your ports)<br />
motor = Motor('A')<br />
motorPair = MotorPair('A', 'B')<br />
distanceSensor = DistanceSensor('B')<br />
colorSensor = ColorSensor('C')<br />
forceSensor = ForceSensor('D')<br />
<br />
# camera setup<br />
cam_width = 480<br />
cam_height = 360<br />
camera = cv2.VideoCapture(0)<br />
camera.set(cv2.CAP_PROP_FRAME_WIDTH, cam_width)<br />
camera.set(cv2.CAP_PROP_FRAME_HEIGHT, cam_height)<br />
<br />
<br />
# Motor starts and runs until turned off<br />
def run_infinite_motor():<br />
motor.start(30)<br />
time.sleep(2)<br />
motor.start(-30)<br />
time.sleep(2)<br />
motor.stop()<br />
<br />
<br />
# Run motor for specific time or angle<br />
def run_motor():<br />
motor.run_for_degrees(180, blocking=True) # blocking= True/False determines if rest of the code should wait until motor movement stopped<br />
time.sleep(1)<br />
motor.run_for_degrees(-180)<br />
time.sleep(1)<br />
motor.run_for_seconds(1)<br />
time.sleep(1)<br />
motor.run_to_position(0)<br />
time.sleep(1)<br />
motor.run_for_rotations(1) # == motor.run_for_degrees(360)<br />
<br />
<br />
# MotorPair starts and runs until turned off<br />
def run_infinite_motorPair():<br />
motorPair.start(30, 30)<br />
time.sleep(2)<br />
motorPair.stop()<br />
time.sleep(2)<br />
motorPair.start(-30, 30)<br />
time.sleep(2)<br />
motorPair.stop()<br />
<br />
<br />
# Run motorPair for specific time or angle<br />
def run_motorPair():<br />
motorPair.run_for_degrees(180)<br />
time.sleep(1)<br />
motorPair.run_for_degrees(-180)<br />
time.sleep(1)<br />
motorPair.run_for_seconds(1)<br />
time.sleep(1)<br />
motorPair.run_to_position(0, 0)<br />
time.sleep(1)<br />
motorPair.run_for_rotations(1) # == motorPair.run_for_degrees(360)<br />
<br />
<br />
def distance_functions():<br />
distanceSensor.wait_for_in_range(50)<br />
motor.run_for_rotations(1)<br />
<br />
distanceSensor.wait_for_out_of_range(100)<br />
motor.run_for_rotations(2)<br />
<br />
<br />
def handle_in(distance):<br />
motor.run_for_rotations(1)<br />
print("in range", distance)<br />
<br />
<br />
def handle_out(distance):<br />
motor.run_for_rotations(-1)<br />
print("out of range", distance)<br />
<br />
<br />
distanceSensor.when_in_range = handle_in<br />
distanceSensor.when_out_of_range = handle_out<br />
<br />
<br />
def color_functions():<br />
print(colorSensor.get_color())<br />
time.sleep(2)<br />
colorSensor.wait_until_color("Red")<br />
print("Red color detected. Continue...")<br />
colorSensor.wait_for_new_color()<br />
print("New color detected. Continue...")<br />
print("Value of reflected light: ", colorSensor.get_reflected_light())<br />
print("Value of ambient light: ", colorSensor.get_ambient_light())<br />
<br />
<br />
def force_functions():<br />
print(forceSensor.get_force()) # use in while loop to see how the force changes<br />
print(forceSensor.get_peak_force()) # highest force detected<br />
time.sleep(2)<br />
print(forceSensor.is_pressed()) # True/False<br />
time.sleep(2)<br />
forceSensor.wait_until_pressed()<br />
print("Force detected. Continue...")<br />
forceSensor.wait_until_released()<br />
print("Force released. Continue...")<br />
<br />
<br />
def handle_pressed(force):<br />
motor.run_for_rotations(1)<br />
print("pressed: ", force)<br />
<br />
<br />
def handle_released(force):<br />
motor.run_for_rotations(-1)<br />
print("released: ", force)<br />
<br />
<br />
forceSensor.when_pressed = handle_pressed<br />
forceSensor.when_released = handle_released<br />
<br />
<br />
# Show camera feed<br />
def generate_feed():<br />
while True:<br />
ret, frame = camera.read()<br />
if not ret:<br />
break<br />
cv2.imshow('frame', frame)<br />
<br />
# Exit if 'q' is pressed<br />
if cv2.waitKey(1) & 0xFF == ord('q'):<br />
break<br />
camera.release()<br />
cv2.destroyAllWindows()<br />
<br />
<br />
# Show pygame window<br />
def pygame_window():<br />
pygame.init()<br />
pygame.display.set_caption('PyGame Window')<br />
screen = pygame.display.set_mode((800, 600))<br />
running = True<br />
<br />
while running:<br />
for event in pygame.event.get():<br />
if event.type == pygame.QUIT: # close the window [X]<br />
running = False<br />
print("Closing pygame window")<br />
<br />
pygame.quit()<br />
<br />
# keyboard controls<br />
def on_press(key):<br />
if key == kb.Key.left:<br />
print("left")<br />
elif key == kb.Key.right:<br />
print("right")<br />
elif key == kb.Key.up:<br />
print("up")<br />
elif key == kb.Key.down:<br />
print("down")<br />
<br />
<br />
listener = kb.Listener(on_press=on_press)<br />
listener.start()<br />
<br />
<br />
if __name__ == '__main__':<br />
pygame_window()<br />
generate_feed()<br />
<br />
<br />
</syntaxhighlight></div>
Robot