Birthday Gift Present3r

remix/birthday-gift-present3r/.gitignore

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+__pycache__/
+*.pyc
+venv/

remix/birthday-gift-present3r/.vscode/extensions.json

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+{
+  // 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"
+  ]
+}

remix/birthday-gift-present3r/.vscode/launch.json

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+{
+  // 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",
+      "interactiveTerminal": false
+    }
+  ]
+}

remix/birthday-gift-present3r/.vscode/settings.json

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+// Place your settings in this file to overwrite default and user settings.
+{
+  "editor.rulers": [70],
+
+  "ev3devBrowser.download.exclude": "{**/*.md,**/*.jpg,**/*.jpeg,**/*.png,**/*.pdf,.vscode/*}",
+  "ev3devBrowser.download.include": "{**/*.py,**/*.json}",
+
+  "files.exclude": {
+    "**/.mypy_cache": true,
+    "**/*.pyc": {"when": "$(basename).py"}, 
+    "**/__pycache__": true,
+    "**/.ropeproject": true,
+  },
+
+  "python.analysis.diagnosticSeverityOverrides": {
+    "reportMissingImports": "none",
+  },
+
+  "python.linting.enabled": true,
+
+  "python.linting.pylintEnabled": true,
+  "python.linting.pylintArgs": [
+    "--disable", "assignment-from-no-return",
+    "--disable", "import-error",
+    "--disable", "missing-class-docstring",
+    "--disable", "missing-function-docstring",
+    "--disable", "missing-module-docstring",
+    "--disable", "no-name-in-module",
+    "--disable", "too-many-arguments",
+  ],
+
+  "python.linting.flake8Enabled": true,
+
+  "python.linting.mypyEnabled": true,
+
+  "python.linting.pydocstyleEnabled": false,
+
+  "python.linting.pycodestyleEnabled": true,
+
+  "python.linting.prospectorEnabled": true,
+
+  "python.linting.pylamaEnabled": true,
+
+  "python.linting.banditEnabled": true,
+}

remix/birthday-gift-present3r/Happy-Birthday-Song.json

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+[
+  "G3/8", "G3/8", "A3/4", "G3/4", "C4/4", "B3/2",
+  "G3/8", "G3/8", "A3/4", "G3/4", "D4/4", "C4/2",
+  "G3/8", "G3/8", "G4/4", "E4/4",
+  "C4/8", "C4/8", "B3/4", "A3/4",
+  "F4/8", "F4/8", "E4/4", "C4/4", "D4/4", "C4/2"
+]

remix/birthday-gift-present3r/index.md

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+---
+title: "Birthday Bot: Gift Presenter"
+maintainer:
+  user: "TheVinhLuong102"
+  name: "The Lương-Phạm Family"
+image:
+  local: "birthday-gift-present3r.jpg"
+video:
+  youtube: "PAk9mxus1Nk"
+description:
+  "A gentlemanly robot who wheels around, sings Happy Birthday and presents gifts with its arms! Member of the Lương-Phạm family's Birthday Bots squad, alongside Birthday Candle Blower and Birthday Cake Cutter."
+building_instructions:
+  local: TODO
+code: "#program"
+---
+
+
+Control the Birthday Gift Present3r by the IR Beacon as follows:
+
+- Driving by IR Beacon channel #1: (refer to the `rc_tank_util.RemoteControlledTank` code below)
+  - 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
+
+- Singing Happy Birthday: IR Beacon button (any channel)
+
+- Controlling the arms by IR Beacon channel #4: 
+  - Lowering the arms: Bottom-Left/Red-Down or Bottom-Right/Blue-Down
+  - Raising the arms: Top-Left/Red-Up or Top-Right/Blue-Up
+
+
+## Program
+
+{% include copy-code.html %}
+```python
+{% include_relative main.py %}
+```
+
+`BirthdayGiftPresent3r` uses a remote-controlled tank driving utility whose code is in `rc_tank_util.py` as follows:
+
+{% include copy-code.html %}
+```python
+{% include_relative rc_tank_util.py %}
+```

remix/birthday-gift-present3r/main.py

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+#!/usr/bin/env pybricks-micropython
+
+
+import json
+
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import Motor, TouchSensor
+from pybricks.media.ev3dev import ImageFile
+from pybricks.parameters import Button, Direction, Port
+
+from pybricks.experimental import run_parallel
+
+from rc_tank_util import RemoteControlledTank
+
+
+HAPPY_BIRTHDAY_SONG = json.load(open('Happy-Birthday-Song.json'))
+
+
+class BirthdayGiftPresent3r(RemoteControlledTank):
+    WHEEL_DIAMETER = 44   # milimeters
+    AXLE_TRACK = 88       # milimeters
+
+    def __init__(
+            self,
+            left_motor_port: Port = Port.C,
+            right_motor_port: Port = Port.B,
+            medium_motor_port: Port = Port.A,
+            touch_sensor_port: Port = Port.S1,
+            ir_sensor_port: Port = Port.S4,
+            driving_ir_beacon_channel: int = 1,
+            non_driving_ir_beacon_channel: int = 4):
+        super().__init__(
+            wheel_diameter=self.WHEEL_DIAMETER,
+            axle_track=self.AXLE_TRACK,
+            left_motor_port=left_motor_port,
+            right_motor_port=right_motor_port,
+            polarity='inversed',
+            ir_sensor_port=ir_sensor_port,
+            ir_beacon_channel=driving_ir_beacon_channel)
+
+        self.ev3_brick = EV3Brick()
+
+        self.arm_control_motor = \
+            Motor(port=medium_motor_port,
+                  positive_direction=Direction.COUNTERCLOCKWISE)
+
+        self.touch_sensor = TouchSensor(port=touch_sensor_port)
+
+        self.non_driving_ir_beacon_channel = \
+            non_driving_ir_beacon_channel
+
+    def start_up(self):
+        self.ev3_brick.screen.load_image(ImageFile.NEUTRAL)
+
+        self.ev3_brick.speaker.set_speech_options(
+            language='en',
+            voice='m3',
+            speed=None,
+            pitch=None)
+
+        self.ev3_brick.speaker.set_volume(
+            volume=100,
+            which='_all_')
+
+    def lower_or_raise_arms_by_ir_beacon(self):
+        non_driving_ir_beacon_button_pressed = \
+            self.ir_sensor.buttons(
+                channel=self.non_driving_ir_beacon_channel)
+
+        if {Button.LEFT_DOWN, Button.RIGHT_DOWN}.intersection(
+                non_driving_ir_beacon_button_pressed):
+            self.arm_control_motor.run(speed=-100)
+
+        elif {Button.LEFT_UP, Button.RIGHT_UP}.intersection(
+                non_driving_ir_beacon_button_pressed):
+            self.arm_control_motor.run(speed=100)
+
+        else:
+            self.arm_control_motor.hold()
+
+    def keep_controlling_arms_by_ir_beacon(self):
+        while True:
+            self.lower_or_raise_arms_by_ir_beacon()
+
+    def say_happy_birthday_if_touch_sensor_pressed(self):
+        if self.touch_sensor.pressed():
+            self.ev3_brick.speaker.say(
+                text='Happy Birthday, My Love!')
+
+    def say_happy_birthday_whenever_touch_sensor_pressed(self):
+        while True:
+            self.say_happy_birthday_if_touch_sensor_pressed()
+
+    def sing_happy_birthday_if_ir_beacon_button_pressed(self):
+        if Button.BEACON in (self.ir_sensor.buttons(channel=1) +
+                             self.ir_sensor.buttons(channel=2) +
+                             self.ir_sensor.buttons(channel=3) +
+                             self.ir_sensor.buttons(channel=4)):
+            self.ev3_brick.speaker.play_notes(
+                notes=HAPPY_BIRTHDAY_SONG,
+                tempo=120)
+
+    def sing_whenever_ir_beacon_button_pressed(self):
+        while True:
+            self.sing_happy_birthday_if_ir_beacon_button_pressed()
+
+    def main(self):
+        self.start_up()
+
+        run_parallel(
+            self.keep_driving_by_ir_beacon,
+            self.keep_controlling_arms_by_ir_beacon,
+            self.say_happy_birthday_whenever_touch_sensor_pressed,
+            self.sing_whenever_ir_beacon_button_pressed)
+
+
+if __name__ == '__main__':
+    birthday_gift_present3r = BirthdayGiftPresent3r()
+
+    birthday_gift_present3r.main()

remix/birthday-gift-present3r/rc_tank_util.py

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+from pybricks.ev3devices import Motor, InfraredSensor
+from pybricks.robotics import DriveBase
+from pybricks.parameters import Button, Direction, Port
+
+
+class RemoteControlledTank:
+    """
+    This reusable mixin provides the capability of driving a robot
+    with a Driving Base by the IR beacon
+    """
+    def __init__(
+            self,
+            wheel_diameter: float,   # in milimeters
+            axle_track: float,       # in milimeters
+            left_motor_port: Port = Port.B,
+            right_motor_port: Port = Port.C,
+            polarity: str = 'normal',
+            ir_sensor_port: Port = Port.S4,
+            ir_beacon_channel: int = 1):
+        motor_positive_direction = \
+            Direction.CLOCKWISE \
+            if polarity == 'normal' \
+            else Direction.COUNTERCLOCKWISE
+        left_motor = \
+            Motor(port=left_motor_port,
+                  positive_direction=motor_positive_direction)
+        right_motor = \
+            Motor(port=right_motor_port,
+                  positive_direction=motor_positive_direction)
+        self.drive_base = DriveBase(left_motor=left_motor,
+                                    right_motor=right_motor,
+                                    wheel_diameter=wheel_diameter,
+                                    axle_track=axle_track)
+
+        self.ir_sensor = InfraredSensor(port=ir_sensor_port)
+        self.ir_beacon_channel = ir_beacon_channel
+
+    def drive_by_ir_beacon(self,
+                           speed: float = 1000,    # mm/s
+                           turn_rate: float = 90   # rotational deg/s
+                           ):
+        ir_beacon_button_pressed = \
+            set(self.ir_sensor.buttons(
+                channel=self.ir_beacon_channel))
+
+        # forward
+        if ir_beacon_button_pressed == \
+                {Button.LEFT_UP, Button.RIGHT_UP}:
+            self.drive_base.drive(
+                speed=speed,
+                turn_rate=0)
+
+        # backward
+        elif ir_beacon_button_pressed == \
+                {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
+            self.drive_base.drive(
+                speed=-speed,
+                turn_rate=0)
+
+        # turn left on the spot
+        elif ir_beacon_button_pressed == \
+                {Button.LEFT_DOWN, Button.RIGHT_UP}:
+            self.drive_base.drive(
+                speed=0,
+                turn_rate=-turn_rate)
+
+        # turn right on the spot
+        elif ir_beacon_button_pressed == \
+                {Button.RIGHT_DOWN, Button.LEFT_UP}:
+            self.drive_base.drive(
+                speed=0,
+                turn_rate=turn_rate)
+
+        # turn left forward
+        elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
+            self.drive_base.drive(
+                speed=speed,
+                turn_rate=-turn_rate)
+
+        # turn right forward
+        elif ir_beacon_button_pressed == {Button.LEFT_UP}:
+            self.drive_base.drive(
+                speed=speed,
+                turn_rate=turn_rate)
+
+        # turn left backward
+        elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
+            self.drive_base.drive(
+                speed=-speed,
+                turn_rate=turn_rate)
+
+        # turn right backward
+        elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
+            self.drive_base.drive(
+                speed=-speed,
+                turn_rate=-turn_rate)
+
+        # otherwise stop
+        else:
+            self.drive_base.stop()
+
+    def keep_driving_by_ir_beacon(self,
+                                  speed: float = 1000,    # mm/s
+                                  turn_rate: float = 90   # deg/s
+                                  ):
+        while True:
+            self.drive_by_ir_beacon(
+                speed=speed,
+                turn_rate=turn_rate)