angle () < target_angle - overshoot : wait ( 1 ) robot. straight ( length ) # Turn clockwise until the angle equals the target angle. for side in range ( 1, sides + 1 ): target_angle = side * angle - overshoot # Drive forward. angle = 360 / sides # Drive along the polygon path. reset_angle ( 0 ) # Calculate the angle to turn to and the time to drive straight. It uses the # number of sides to calculate the angle to turn to, and the length # to calculate the time to drive straight. drive ( 0, 0 ) wait ( 1000 ) def polygon ( sides, length ): # This function drives the robot along a polygon path. angle () < 360 - overshoot : wait ( 1 ) robot. straight ( 750 ) # Turn clockwise until the angle is 360 degrees. drive ( 0, 0 ) wait ( 1000 ) # Drive forward for 750 millimeters robot. angle () 180 + overshoot : wait ( 1 ) robot. straight ( 750 ) # Turn clockwise until the angle is 90 degrees. reset_angle ( 0 ) # Drive forward for 750 millimeters robot. steering = 60 overshoot = 5 def right_angle (): # This function drives the robot forward, turn a right angle, drive # forward again, and then turn 180 degrees to drive back along the # same path and return to its initial position. S4 ) # Initialize the steering and overshoot variables.
# Keep the Gyro Sensor and EV3 steady when connecting the cable and # during start-up of the EV3. It is used to measure the angle of the robot. robot = DriveBase ( left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK ) # Set up the Gyro Sensor. The wheel diameter and axle track values are used to make the # motors move at the correct speed when you give a drive command. AXLE_TRACK = 200 # The Driving Base is comprised of 2 motors. WHEEL_DIAMETER = 54 # The axle track is the distance between the centers of each of the # wheels. COUNTERCLOCKWISE ) # The wheel diameter of the Tank Bot is about 54 mm. COUNTERCLOCKWISE ) right_motor = Motor ( Port. These will be the left and right motors of the Tank Bot. Set the motor directions to # counterclockwise, so that positive speed values make the robot move # forward. ev3 = EV3Brick () # Configure 2 motors on Ports B and C. Download: Building instructions can be found at: """ from pybricks.hubs import EV3Brick from pybricks.ev3devices import Motor, GyroSensor from pybricks.parameters import Port, Direction, Button from pybricks.tools import wait from pybricks.robotics import DriveBase from 3dev import ImageFile # Initialize the EV3 brick. #!/usr/bin/env pybricks-micropython """ Example LEGO® MINDSTORMS® EV3 Tank Bot Program - This program requires LEGO® EV3 MicroPython v2.0.
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