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Erste Schritte mit LEGO
#!/usr/bin/env pybricks-micropython
from
pybricks
import
from
pybricks.ev3devices
from
pybricks.parameters
from
pybricks.tools
# Configure the gripper motor on Port A with default settings.
gripper_motor = Motor(Port.A)
# Configure the elbow motor. It has an 8-teeth and a 40-teeth gear
# connected to it. We would like positive speed values to make the
# arm go upward. This corresponds to counterclockwise rotation
# of the motor.
elbow_motor = Motor(Port.B, Direction.COUNTERCLOCKWISE, [8, 40])
# Configure the motor that rotates the base. It has a 12-teeth and a
# 36-teeth gear connected to it. We would like positive speed values
# to make the arm go away from the Touch Sensor. This corresponds
# to counterclockwise rotation of the motor.
base_motor = Motor(Port.C, Direction.COUNTERCLOCKWISE, [12, 36])
# Limit the elbow and base accelerations. This results in
# very smooth motion. Like an industrial robot.
elbow_motor.set_run_settings(60, 120)
base_motor.set_run_settings(60, 120)
# Set up the Touch Sensor. It acts as an end-switch in the base
# of the robot arm. It defines the starting point of the base.
base_switch = TouchSensor(Port.S1)
# Set up the Color Sensor. This sensor detects when the elbow
# is in the starting position. This is when the sensor sees the
# white beam up close.
elbow_sensor = ColorSensor(Port.S3)
# Initialize the elbow. First make it go down for one second.
# Then make it go upwards slowly(15 degrees per second) until
# the Color Sensor detects the white beam. Then reset the motor
# angle to make this the zero point. Finally, hold the motor
# in place so it does not move.
elbow_motor.run_time(-30, 1000)
elbow_motor.run(15)
while
elbow_sensor.reflection() < 32:
wait(10)
elbow_motor.reset_angle(0)
elbow_motor.stop(Stop.HOLD)
# Initialize the base. First rotate it until the Touch Sensor
# in the base is pressed. Reset the motor angle to make this
# the zero point. Then hold the motor in place so it does not move.
base_motor.run(-60)
while not
base_switch.pressed():
wait(10)
base_motor.reset_angle(0)
base_motor.stop(Stop.HOLD)
MINDSTORMS
®
®
as
ev3brick
brick
import
Motor, TouchSensor, ColorSensor
import
Port, Stop, Direction
import
wait
LEGO, the LEGO logo and MINDSTORMS are trademarks of the LEGO Group.
©2019 The LEGO Group.
Education EV3 MicroPython
Version 1.0.0
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