Super stupid questions - sorry-- what version do I have ? #935

badassloumd · 2023-02-03T23:06:41Z

badassloumd
Feb 3, 2023

Hi - My students and I LOVE pybrics! Thank you for creating it!

I have been using a pybrics image SD card fro about 2 years on my EV3. I have seen that a lot of issues may have been identified and fixed since the release I am using. So I have 2 questions:

how do I find out what release version my Pybrics is?
how do I update to the latest fixes?? Can I do some soprt of
apt-get upgrade? Will someone be so kind as to show me an
example of how I would upgrade?

Thanks again for the help.

dlech · 2023-02-03T23:47:39Z

dlech
Feb 3, 2023
Maintainer

Glad to hear you are enjoying using Pybricks.

We have been focused on newer hubs and Pybricks Code for the last few years so we haven't made any official updates for EV3.

You can grab the latest build like this (run this on EV3 connected to the internet):

curl -k -L https://nightly.link/pybricks/pybricks-micropython/workflows/build/master/pybricks-micropython-build-2436.zip -O
unzip pybricks-micropython-build-2436.zip
chmod +x pybricks-micropython

Then you can can sudo mv pybricks-micropython /usr/local/bin/ to override the debian package version of pybricks-micropython or change the shebang in you Python programs to specify the exactly location (e.g. #!/home/robot/pybricks-micropython).

0 replies

dlech · 2023-02-03T23:52:16Z

dlech
Feb 3, 2023
Maintainer

how do I find out what release version my Pybricks is?

For the debian package version:

dpkg-query -s pybricks-micropython | grep Version

2 replies

dlech Feb 3, 2023
Maintainer

You can also see the version if you run the REPL, for example:

robot@pybricks-ev3:~$ brickrun -r ./pybricks-micropython 
Pybricks MicroPython v3.2.2-389-ga0676ef2 on 2023-02-02; LEGO MINDSTORMS EV3 Intelligent Brick with Texas Instruments AM1808
Use Ctrl-D to exit, Ctrl-E for paste mode
>>>

BertLindeman Feb 4, 2023

You can also see the version if you run the REPL, for example:

robot@pybricks-ev3:~$ brickrun -r ./pybricks-micropython 
Pybricks MicroPython v3.2.2-389-ga0676ef2 on 2023-02-02; LEGO MINDSTORMS EV3 Intelligent Brick with Texas Instruments AM1808
Use Ctrl-D to exit, Ctrl-E for paste mode
>>>

Got an error running the brickrun command you show (via ssh)
Ran this (local installed):

/usr/local/bin/pybricks-micropython -v

Resulted for me:

Pybricks MicroPython v3.1.0-281-g6c49cdf9 on 2022-04-26; linux version
Use Ctrl-D to exit, Ctrl-E for paste mode
>>>

The debian installed microPython shows with /usr/bin/pybricks-micropython -v

Pybricks MicroPython v1.11 on 2020-05-06; linux version
Use Ctrl-D to exit, Ctrl-E for paste mode
>>>

Next step for me is to install the version you indicate above in /usr/local/bin.

Thank you, David

badassloumd · 2023-02-06T01:40:02Z

badassloumd
Feb 6, 2023
Author

David, thanks for your help. most of the micropython stuff on my EV'3 is located in /usr/lib/pybricks-micropython/ Threre are a TON of .mpy files in there. The zip file that you told me to curl unzips to just one executable. Will that executable still be using the "old" un-updated .mpy files -- or are the .mpy files not important? Thank you,

…

---Lou

On 2023-02-03 18:47, David Lechner wrote: Glad to hear you are enjoying using Pybricks. We have been focused on newer hubs and Pybricks Code for the last few years so we haven't made any official updates for EV3. You can grab the latest build like this (run this on EV3 connected to the internet): curl -k -L https://nightly.link/pybricks/pybricks-micropython/workflows/build/master/pybricks-micropython-build-2436.zip -O unzip pybricks-micropython-build-2436.zip chmod +x pybricks-micropython Then you can can sudo mv pybricks-micropython /usr/local/bin/ to override the debian package version of pybricks-micropython or change the shebang in you Python programs to specify the exactly location (e.g. #!/home/robot/pybricks-micropython). -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***> Links: ------ [1] #935 (comment) [2] https://github.com/notifications/unsubscribe-auth/AOU7DDENZ27NZY5OBZCOKQDWVWKKNANCNFSM6AAAAAAUQY7OBA

1 reply

dlech Feb 6, 2023
Maintainer

The .mpy files are not essential. All of the essential libraries are "frozen" in the executable file so the one file is all that is needed.

badassloumd · 2023-02-06T01:51:18Z

badassloumd
Feb 6, 2023
Author

after replacing the executable with the new one I get this error Starting: brickrun --directory="/home/robot/jerry_test_1" "/home/robot/jerry_test_1/main.py" ---------- Traceback (most recent call last): File "/home/robot/jerry_test_1/main.py", line 19, in <module> ValueError: incompatible .mpy file ---------- Exited with error code 1. So the .mpy files are not compatible?

…

On 2023-02-05 20:49, David Lechner wrote: The .mpy files are not essential. All of the essential libraries are "frozen" in the executable file so the one file is all that is needed. -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***> Links: ------ [1] #935 (reply in thread) [2] https://github.com/notifications/unsubscribe-auth/AOU7DDHHKPGPA7OVOC3LYPDWWBKBJANCNFSM6AAAAAAUQY7OBA

1 reply

dlech Feb 6, 2023
Maintainer

Which imports are you using? You can probably get around this by importing the uspam version of modules instead of spam. If you really need something from micropython-lib you can copy a .py version to your local program directory.

laurensvalk · 2023-02-06T08:56:02Z

laurensvalk
Feb 6, 2023
Maintainer

As a word of caution, I would like to add that motors are currently not fully updated in V3. We updated the motor control algorithms, but we did not yet update the control parameters for NXT/EV3 since we are not using them actively. As a result, they may not work as expected at this time. But if you go ahead with this, we can probably try having a look at this 😄

0 replies

badassloumd · 2023-02-06T17:45:24Z

badassloumd
Feb 6, 2023
Author

David, here is our robot code. We use many includes, but we are not really experts.. Can you tell me if there is a better way? from pybricks.hubs import EV3Brick from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor, InfraredSensor, UltrasonicSensor, GyroSensor) from pybricks.parameters import Port, Stop, Direction, Button, Color from pybricks.tools import wait, StopWatch, DataLog from pybricks.robotics import DriveBase from pybricks.media.ev3dev import SoundFile, ImageFile # i2c device for gyro hard reset. from pybricks.iodevices import I2CDevice from pybricks.parameters import Port # uart device for future use from pybricks.iodevices import UARTDevice

On 2023-02-06 10:47, David Lechner wrote: Which imports are you using? You can probably get around this by importing the uspam version of modules instead of spam. If you really need something from micropython-lib you can copy a .py version to your local program directory. -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***> Links: ------ [1] #935 (reply in thread) [2] https://github.com/notifications/unsubscribe-auth/AOU7DDBGBLIVBMQLXXI4NN3WWEMI5ANCNFSM6AAAAAAUQY7OBA

#!/usr/bin/env pybricks-micropython from pybricks.hubs import EV3Brick from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor, InfraredSensor, UltrasonicSensor, GyroSensor) from pybricks.parameters import Port, Stop, Direction, Button, Color from pybricks.tools import wait, StopWatch, DataLog from pybricks.robotics import DriveBase from pybricks.media.ev3dev import SoundFile, ImageFile # i2c device for gyro hard reset. from pybricks.iodevices import I2CDevice from pybricks.parameters import Port # uart device for future use from pybricks.iodevices import UARTDevice import random #from ev3dev2.sensor.lego import GyroSensor # This program requires LEGO EV3 MicroPython v2.0 or higher. # Click "Open user guide" on the EV3 extension tab for more information. # /sys/class/lego-sensor/ # gyro driver : lego-ev3-gyro this_robot_name="UNKNOWN" last_direction_rotated_to =0 idle = 55 group = 1 # Create your objects here. jerry = EV3Brick() jerry.speaker.beep(300,100) right_motor = Motor(Port.C) jerry.speaker.beep(600,100) left_motor = Motor(Port.A) jerry.speaker.beep(900,100) fork_motor = Motor(Port.B) jerry.speaker.beep(1200,100) gyro = GyroSensor(Port.S2,Direction.CLOCKWISE) jerry.speaker.beep(1500,100) #left_color= ColorSensor(Port.S1) #right_color= ColorSensor(Port.S3) jerry_stop_watch = StopWatch() #device = I2CDevice(Port.S2, 0x22) # ---------------------------------------------------------------------- # this code turns the robot so many degrees # this is a re-do of the lego desigher graphic version to python rewrite (2022) # ---------------------------------------------------------------------- def rotate_robot(angle,turn_speed,reset): global last_direction_rotated_to # this make it so that other functions can share this varaible min_velocity = 20 max_turn_error = 1 minimum_degrees_to_motor = 1 if (reset!=0): gyro.reset_angle(0) actual_angle = gyro.angle() error = (actual_angle-angle) degree_tire_rotation_for_1_complete_robot_turn= 565 # measured emperically while(abs(error)>max_turn_error): how_many_tire_degress = error*(degree_tire_rotation_for_1_complete_robot_turn/360) how_many_tire_degress = how_many_tire_degress *0.99 if (how_many_tire_degress<0): if (how_many_tire_degress>(-1*minimum_degrees_to_motor)): how_many_tire_degress = -1*minimum_degrees_to_motor if (how_many_tire_degress>0): if (how_many_tire_degress<(minimum_degrees_to_motor)): how_many_tire_degress = minimum_degrees_to_motor lmd = int (how_many_tire_degress) rmd = int(-1*how_many_tire_degress) #print ("LMD=",lmd," RMD=",rmd," Desired angle =",angle," turn_speed=",turn_speed," error =",error," Angle= " , actual_angle, "how_many_tire_degress =",how_many_tire_degress) right_motor.reset_angle(0) left_motor.reset_angle(0) left_motor.run_target(turn_speed,lmd,wait=False) right_motor.run_target(turn_speed,rmd,wait=True) actual_angle = gyro.angle() error = (actual_angle-angle) print ("turn complete, final angle =",actual_angle) right_motor.hold() last_direction_rotated_to =angle # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- def super_test_rotate_robot(): a=90 s=100 while(True): rotate_robot(-a,s,0) wait(300) rotate_robot(a,s,0) wait(300) #a=a-1 if(a==0): a=180 s=s+50 if(s>700): s=100 # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- def get_2_sec_gyro_drift(): a1 = gyro.angle() wait(2000) a2 = gyro.angle() print ("Drivt =",(a1-a2)) dr=abs(a1-a2) return (dr) # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- def test_gyro_drift(): d=get_2_sec_gyro_drift() e=get_2_sec_gyro_drift() if((d>1) and (e>1)): while(True): jerry.speaker.beep(500,100) jerry.speaker.beep(100,100) # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # this code turns the robot so many degrees # ---------------------------------------------------------------------- def OLD__rotate_robot(angle,turn_speed,reset): global last_direction_rotated_to # this make it so that other functions can share this varaible min_velocity = 20 max_turn_error = 3 if (reset!=0): gyro.reset_angle(0) if (angle==0): angle=0.1 target_speed =turn_speed accl = 0 actual_angle = gyro.angle() total_angle_needed = actual_angle - angle if (total_angle_needed <0): total_angle_needed = total_angle_needed *-1 outer_loops=0 while (abs(actual_angle-angle)>max_turn_error): outer_loops=outer_loops+1 while(actual_angle<angle): if (target_speed<turn_speed): target_speed = target_speed + accl #error = (angle - actual_angle)/angle error = (angle - actual_angle)/total_angle_needed if (error<0): error = error *-1 velocity = target_speed * error if (velocity<min_velocity): velocity = min_velocity right_motor.run(velocity*1) left_motor.run(velocity*-1) actual_angle = gyro.angle() jerry.screen.clear() angle_to_print = "Gyro =%d H=%d" % (actual_angle,angle) jerry.screen.draw_text(0, 40, angle_to_print) while(actual_angle>angle): if (target_speed<turn_speed): target_speed = target_speed + accl error = (angle - actual_angle)/total_angle_needed if (error<0): error = error *-1 velocity = target_speed * error if (velocity< min_velocity): velocity = min_velocity right_motor.run(velocity*-1) left_motor.run(velocity* 1) actual_angle = gyro.angle() jerry.screen.clear() #print_stats_to_screen() angle_to_print = "Gyro =%d H=%d" % (actual_angle,angle ) jerry.screen.draw_text(0, 40, angle_to_print) #wait(1) #added 2/2/2022 right_motor.hold() left_motor.hold() # let the gyro settle wait(100) actual_angle = gyro.angle() #print ("main error loop error = ",abs(angle-actual_angle),"outer loops =",outer_loops ) last_direction_rotated_to =angle # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # make robot gostraight. This tirns on the left and right motor for a certan amount # ---------------------------------------------------------------------- def make_robot_go_straight (degrees_tire_rotation,speed): right_motor.reset_angle(0) left_motor.reset_angle(0) right_motor.run_target(speed,degrees_tire_rotation,wait=False) left_motor.run_target(speed,degrees_tire_rotation,wait=False) while(right_motor.control.done()==False): actual_angle = gyro.angle() print ("Actual angle = ",actual_angle,) # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # make robot go in a certan direction. This will adjusts the motors a little # to accomodate for tire slippage -- but this requires tha the Gyro work. # ---------------------------------------------------------------------- def make_robot_go_straight_with_gyro (degrees_tire_rotation,degrees_desired_headding,speed): global last_direction_rotated_to # this make it so that other functions can share this varaible degrees_tire_rotation=int(degrees_tire_rotation) degrees_desired_headding=int(degrees_desired_headding) if (degrees_desired_headding!=-999): degrees_desired_headding=int(degrees_desired_headding) last_direction_rotated_to = degrees_desired_headding else: degrees_desired_headding = int(last_direction_rotated_to) print("MRGSWGRO DDH=",degrees_desired_headding) right_motor.reset_angle(0) left_motor.reset_angle(0) right_motor.run_target(speed,degrees_tire_rotation,wait=False) left_motor.run_target(speed,degrees_tire_rotation,wait=False) right_adjust =0 left_adjust =0 rms=0 lms=0 while ( (degrees_tire_rotation != right_motor.angle()) and (degrees_tire_rotation != left_motor.angle()) ): actual_angle = gyro.angle() jerry.screen.clear() jerry.screen.draw_text(40, 50, actual_angle) jerry.screen.draw_text(50, 50, degrees_desired_headding) #wait(1) #added 2/2/2022 if (degrees_tire_rotation> 0): gain = 5 if (degrees_tire_rotation<0): gain = 5 #print ("Actual angle = ",actual_angle," degrees_desired_headding =",degrees_desired_headding, "Rt adjust =",right_adjust," Lt adjust = ",left_adjust," RMA =",right_motor.angle()," LMA =",left_motor.angle()," RMS=",rms," LMS=",lms) error = degrees_desired_headding -actual_angle if (error>10): error = 10 if (error<-10): error = -10 if (degrees_tire_rotation> 0): right_adjust = error * gain left_adjust = error * gain * -1 if (degrees_tire_rotation< 0): right_adjust = error * gain *-1 left_adjust = error * gain rms = speed+right_adjust if (rms>1000): rms = 1000 if (rms<30): rms = 30 lms = speed+left_adjust if (lms>1000): lms = 1000 if (lms<30): lms =30 #print ("rms= ",rms," lms =",lms," Err = ",error," Headding =",degrees_desired_headding, "target deg tor",degrees_tire_rotation ) right_motor.run_target(rms,degrees_tire_rotation,wait=False) left_motor.run_target(lms,degrees_tire_rotation,wait=False) right_motor.hold() left_motor.hold() # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # make robot floow black line on map using 2 color sensors # ---------------------------------------------------------------------- def folow_line (degrees_tire_rotation,speed): speed = 200 right_motor.reset_angle(0) left_motor.reset_angle(0) right_motor.run_target(speed,degrees_tire_rotation,wait=False) left_motor.run_target(speed,degrees_tire_rotation,wait=False) right_adjust =0 left_adjust =0 while ( (degrees_tire_rotation != right_motor.angle()) and (degrees_tire_rotation != left_motor.angle()) ): left_reflectivity = left_color.reflection() right_reflectivity = right_color.reflection() jerry.screen.clear() l = "Left = %s" % left_reflectivity jerry.screen.draw_text(40, 40, l) r= "Right = %s" % right_reflectivity jerry.screen.draw_text(40, 55, r) gain = 30 limit = 300 print ("left_ref = ",left_reflectivity,"right_ref =",right_reflectivity, "Rt adjust =",right_adjust," Lt adjust = ",left_adjust," RMA =",right_motor.angle()," LMA =",left_motor.angle()) error = abs (left_reflectivity-right_reflectivity) if (error > 1): if (left_reflectivity > right_reflectivity ): # and (left_adjust <limit): right_adjust = -1* gain*error left_adjust = gain*error if ( right_reflectivity > left_reflectivity ): #and (right_adjust <limit): right_adjust = gain*error left_adjust = -1* gain*error rms = speed+right_adjust if (rms>limit): rms=limit lms = speed + left_adjust if (lms>limit): lms=limit print ("RMs=",rms," LMs=",lms) if(1): if (rms>50): right_motor.run_target(rms,degrees_tire_rotation,wait=False) else: right_motor.stop() if (lms>50): left_motor.run_target(lms,degrees_tire_rotation,wait=False) else: left_motor.stop() right_motor.hold() left_motor.hold() # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # make robot floow black line on map using 2 color sensors # ---------------------------------------------------------------------- def folow_line_II (degrees_tire_rotation,duity_cycle): right_motor.reset_angle(0) left_motor.reset_angle(0) right_motor.dc(duity_cycle) left_motor.dc(duity_cycle) right_adjust =0 left_adjust =0 while ( (degrees_tire_rotation > right_motor.angle()) and (degrees_tire_rotation > left_motor.angle()) ): left_reflectivity = left_color.reflection() right_reflectivity = right_color.reflection() jerry.screen.clear() l = "Left = %s" % left_reflectivity jerry.screen.draw_text(40, 40, l) r= "Right = %s" % right_reflectivity jerry.screen.draw_text(40, 55, r) #wait(1) #added 2/2/2022 gain = .5 limit = 100 error = left_reflectivity-right_reflectivity #this will be positive or negative print ("Error= ",error," left_ref = ",left_reflectivity,"right_ref =",right_reflectivity, "Rt adjust =",right_adjust," Lt adjust = ",left_adjust," RMA =",right_motor.angle()," LMA =",left_motor.angle()) left_adjust = gain * error right_adjust = -1* gain*error if (left_adjust<0): left_adjust = left_adjust *1.5 if (right_adjust<0): right_adjust = right_adjust *1.5 rms = duity_cycle + right_adjust if (rms>limit): rms=limit if (rms< (-1*limit)): rms=-1*limit lms = duity_cycle + left_adjust if (lms>limit): lms=limit if (lms< (-1*limit)): lms=-1*limit print ("RMdc=",rms," LMdc=",lms) right_motor.dc(rms) left_motor.dc(lms) right_motor.brake() left_motor.brake() # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # this code moves the forks all the way down, and then defines that as 140 # degrees. # ---------------------------------------------------------------------- def setup_forklift(): #fork_motor.dc(25) #wait(1000) #fork_motor.dc(-20) #print ("control limits of fork motor") #print (fork_motor.control.limits()) # the idea is to push the forks down until they stop # moving. Once they are stopped, tell the fork motor # that that position is 140 degrees. wait(10) fork_motor.dc(30) old_read =0 new_read = 1 times_it_is_stopped =0 while (times_it_is_stopped<10): if (old_read==new_read): times_it_is_stopped = times_it_is_stopped +1 wait(100) old_read = new_read new_read = fork_motor.angle() #print ("new read=",new_read," old_read=",old_read) fork_motor.dc(0) fork_motor.reset_angle(140) set_fork_angle(5,300) # now bring the forks almost all the way back up # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # positive numbers move it down (upt to 140), 0 degrees is all the way up # ---------------------------------------------------------------------- def set_fork_angle(angle,speed): if (angle>140): angle=140 if (angle <0): angle = 0 fork_motor.run_target(speed,angle,wait=True) # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # positive numbers move it down (upt to 140), 0 degrees is all the way up # ---------------------------------------------------------------------- def flip_forks_up_fast(): fork_motor.dc(-100) wait(200) set_fork_angle(20,800) #fork_motor.run_target(speed,angle,wait=True) # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- def smash_forks_down(): #print("about to do it") #wait(1000) fork_motor.dc(100) wait(100) #print("Did it") # ---------------------------------------------------------------------- flip_forks_up_fast smash_forks_down # ---------------------------------------------------------------------- # displays the gyro angle on the screen # ---------------------------------------------------------------------- def display_gyro_angle( ): actual_angle = gyro.angle() speed = gyro.speed() jerry.screen.clear() angle_to_print = "Gyro =%d" % actual_angle jerry.screen.draw_text(0, 40, angle_to_print) jerry.screen.draw_text(40, 50, actual_angle) jerry.screen.draw_text(50, 50, speed) print("Angle=",actual_angle," speed=",speed) # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # this is used to beep out the group number, its too slow to use that # say thing # NMF 2.3.2022 # ---------------------------------------------------------------------- def beep_this_many_times(times_to_beep): x=0 while(x<times_to_beep): jerry.speaker.beep(880*2,50) wait(50) x = x +1 # ---------------------------------------------------------------------- # this prints the stopwatch ont he screen # ---------------------------------------------------------------------- def print_stats_to_screen(): voltage = "" batt_volts = (jerry.battery.voltage()/1000) voltage = "Volts = %1.1f" % batt_volts jerry.screen.draw_text(0,20,voltage) angle_to_print = "Gyro =%d" % gyro.angle() jerry.screen.draw_text(0, 40, angle_to_print) g = "Group = %d" % group jerry.screen.draw_text(0,70,g) t = jerry_stop_watch.time() t = t/1000 t = int(t) r = 150 - t if (r<0): r=0 tmesg ="Ela=%d Rem=%d" % (t,r) jerry.screen.draw_text(0,100,tmesg) # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # this is the menu that picks the groups that are run by the operator # ---------------------------------------------------------------------- def run_the_menue(): global group jerry_stop_watch.reset() jerry_stop_watch.pause() while(1): jerry.screen.clear() print_stats_to_screen() batt_volts = (jerry.battery.voltage()/1000) if (batt_volts <7.4): jerry.speaker.beep(1760,100) jerry.speaker.beep(880,100) jerry.speaker.beep(440,100) wait(10) b =jerry.buttons.pressed() if (b==[]): wait(1) #print ("no press",b) else: jerry.speaker.beep(2000,10) if (b[0]==Button.UP): group=group + 1 if (group>20): group = 20 if (b[0]==Button.DOWN): group=group +- 1 if (group<1): group = 1 if (b[0]==Button.CENTER): jerry_stop_watch.resume() while( b!=[]): b =jerry.buttons.pressed() groupname = "group %d" % group #jerry.speaker.say(groupname) beep_this_many_times(group) #say command was replaced by this becsasue it wastes too much time. run_mission_group(group) group = group + 1 while( b!=[]): b =jerry.buttons.pressed() wait(100) # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- # ---------------------------------------------------------------------- def run_mission_group(mission_group): global this_robot_name gyro.reset_angle(0) wait(10) gyro.reset_angle(0) if (mission_group==1) and (this_robot_name== "JERRY"): # put up tv, collect windmill EU and collect Recahrable battery 12/9/2022 set_fork_angle(65,500) make_robot_go_straight_with_gyro(340,0,350) # go to the TV fast. make_robot_go_straight_with_gyro(75,0,250) #hit the tv, but not too hard make_robot_go_straight_with_gyro(-50,0,400) #unhit the tv rotate_robot(45,400,0) # turn the robot make_robot_go_straight_with_gyro(650,-999,400) rotate_robot(0,400,0) make_robot_go_straight_with_gyro(90,-999,200) rotate_robot(-26,200,0) make_robot_go_straight_with_gyro(-185,-999,200) #capture recharagbel battery make_robot_go_straight_with_gyro(70,-999,300) #go gorward, with captured battery face = -50 rotate_robot(face,400,0) # face windmil windmil_backup_speed = 300 make_robot_go_straight_with_gyro(340-50,-999,200) make_robot_go_straight_with_gyro(-200,-999,windmil_backup_speed) make_robot_go_straight_with_gyro(320,-999,200) make_robot_go_straight_with_gyro(-200,-999,windmil_backup_speed) make_robot_go_straight_with_gyro(320,-999,200) make_robot_go_straight_with_gyro(-200,face,windmil_backup_speed) make_robot_go_straight_with_gyro(320,-999,200) make_robot_go_straight_with_gyro(-200,-999,windmil_backup_speed) #special last backup rotate_robot(92,300,0) #rotate tward hybrid car make_robot_go_straight_with_gyro(310,-999,300) #go tward hybrid set_fork_angle(110,300) # bring forks down, to get under the hybrid car lever rotate_to_car =44 rotate_robot(rotate_to_car,300,0) #rotate paralell to hybrid car make_robot_go_straight_with_gyro(75,-999,300) # go twards the hybrid car getting fork under lifter rotate_robot(rotate_to_car+4,200,0) #rotate paralell to hybrid car # fitst try at hybrid fork_motor.dc(-80) #flip forkk up fast wait(150) fork_motor.dc(50) #flip forkk down fast wait(200) fork_motor.dc(0) rotate_robot(rotate_to_car-3,200,0) fork_motor.dc(-80) #flip forkk up fast wait(150) fork_motor.dc(50) #flip forkk down fast wait(200) fork_motor.dc(0) rotate_robot(rotate_to_car-6,200,0) fork_motor.dc(-80) #flip forkk up fast wait(150) fork_motor.dc(0) rotate_robot(50,200,0) #turn tward home make_robot_go_straight_with_gyro(-360*3.5,45,500) # go home5 set_fork_angle(10,700) return # the car lever gets stuck on the dino carrier rotate_robot(78,300,0) #turn twrd the nhand set_fork_angle(95,700) #get for to height to fit under the hand make_robot_go_straight_with_gyro(170,999,300) # go to the hand set_fork_angle(130,700) #lift the hand #-------------------------- end Jerry mission group 1 ---------------------------- return return #-------------------------- end JERRY mission group 1 ---------------------------- if (mission_group==1) and (this_robot_name== "Larry"): # put up tv, collect windmill EU and collect Recahrable battery 12/9/2022 set_fork_angle(65,500) make_robot_go_straight_with_gyro(340,0,350) # go to the TV fast. make_robot_go_straight_with_gyro(75,0,250) #hit the tv, but not too hard make_robot_go_straight_with_gyro(-50,0,400) #unhit the tv rotate_robot(45,400,0) # turn the robot make_robot_go_straight_with_gyro(650,-999,400) rotate_robot(0,400,0) make_robot_go_straight_with_gyro(90,-999,200) rotate_robot(-26,200,0) make_robot_go_straight_with_gyro(-185,-999,200) #capture recharagbel battery make_robot_go_straight_with_gyro(70,-999,300) #go gorward, with captured battery face = -50 rotate_robot(face,400,0) # face windmil windmil_backup_speed = 300 make_robot_go_straight_with_gyro(340-50,-999,200) make_robot_go_straight_with_gyro(-200,-999,windmil_backup_speed) make_robot_go_straight_with_gyro(320,-999,200) make_robot_go_straight_with_gyro(-200,-999,windmil_backup_speed) make_robot_go_straight_with_gyro(320,-999,200) make_robot_go_straight_with_gyro(-200,face,windmil_backup_speed) make_robot_go_straight_with_gyro(320,-999,200) make_robot_go_straight_with_gyro(-200,-999,windmil_backup_speed) #special last backup rotate_robot(92,300,0) #rotate tward hybrid car make_robot_go_straight_with_gyro(310,-999,300) #go tward hybrid set_fork_angle(110,300) # bring forks down, to get under the hybrid car lever rotate_to_car =44 rotate_robot(rotate_to_car,300,0) #rotate paralell to hybrid car make_robot_go_straight_with_gyro(75,-999,300) # go twards the hybrid car getting fork under lifter rotate_robot(rotate_to_car+4,200,0) #rotate paralell to hybrid car # fitst try at hybrid fork_motor.dc(-80) #flip forkk up fast wait(150) fork_motor.dc(50) #flip forkk down fast wait(200) fork_motor.dc(0) wait(100) rotate_robot(rotate_to_car-4,200,0) fork_motor.dc(-80) #flip forkk up fast wait(150) fork_motor.dc(50) #flip forkk down fast wait(200) fork_motor.dc(0) wait(100) rotate_robot(rotate_to_car-8,200,0) wait(200) fork_motor.dc(-80) #flip forkk up fast wait(200) fork_motor.dc(0) rotate_robot(50,200,0) #turn tward home make_robot_go_straight_with_gyro(-360*3.5,45,500) # go home5 set_fork_angle(10,700) return # the car lever gets stuck on the dino carrier rotate_robot(78,300,0) #turn twrd the nhand set_fork_angle(95,700) #get for to height to fit under the hand make_robot_go_straight_with_gyro(170,999,300) # go to the hand set_fork_angle(130,700) #lift the hand #-------------------------- end Larry mission group 1 ---------------------------- return lift_speed=200 if (mission_group==2) and (this_robot_name== "JERRY"): return #-------------------------- end JERRY mission group 2 ---------------------------- if (mission_group==2) and (this_robot_name== "Larry"): # while carrying dinosaur, go flip up power plant then go to the other side # START ROBOT IN GROUP 2 POSITION set_fork_angle(110,500) make_robot_go_straight_with_gyro(360*1.75,-7,300) # go half way to powerr plant rotate_robot(0,90,0) #face straight make_robot_go_straight_with_gyro(105,0,300) # go the rest of the way way to powerr plant down = 140 up =10 set_fork_angle(up,lift_speed) # bring forks up,lifing bar rotate_robot(-20,200,0) #angle away from platform make_robot_go_straight_with_gyro(270,-25,300) #go forward twards press plate rotate_robot(0,200,0) #face straight make_robot_go_straight_with_gyro(-190,-999,300) #go backwards to align pin with plate rotate_robot(5,90,0) #face straight #Try to hit the plate 4 times move_degrees=40 #set_fork_angle(down,300) # bring forks down, releasing all 3 energy units fork_motor.dc(80) #flip forkk down fast wait(150) set_fork_angle(up,500) # bring forks up,lifing bar in cas we missed make_robot_go_straight_with_gyro(move_degrees,5,300) # go the rest of the way way to powerr plant #set_fork_angle(down,300) # bring forks down, releasing all 3 energy units fork_motor.dc(80) #flip forkk down fast wait(150) set_fork_angle(up,500) # bring forks up,lifing bar in cas we missed make_robot_go_straight_with_gyro(move_degrees,5,300) # go the rest of the way way to powerr plant #set_fork_angle(down,300) # bring forks down, releasing all 3 energy units fork_motor.dc(80) #flip forkk udownp fast wait(150) set_fork_angle(up,500) # bring forks up,lifing bar in cas we missed make_robot_go_straight_with_gyro(move_degrees,5,300) # go the rest of the way way to powerr plant #set_fork_angle(down,300) # bring forks down, releasing all 3 energy units fork_motor.dc(80) #flip forkk down fast wait(150) set_fork_angle(up,500) # bring forks up,lifing bar in cas we missed rotate_robot(0,300,0) #face straight make_robot_go_straight_with_gyro(510,-999,400) # go beyond the fixture so we can have room to turn rotate_robot(45,200,0) # turn as much as we can make_robot_go_straight_with_gyro(-400,-999,400) # go backwards 45 deg to the rotate_robot(90,300,0) make_robot_go_straight_with_gyro(-525,-999,300) # go backwards to the hand was 75 wait(100) make_robot_go_straight_with_gyro(200,-999,100) make_robot_go_straight_with_gyro(425,-999,700) # go backwards to the hand was 75 rotate_robot(45,300,0) make_robot_go_straight_with_gyro(525,45,700) rotate_robot(0,300,0) make_robot_go_straight_with_gyro(1000,0,700) return rotate_robot(-8,90,0) # face away from the platform so the tire wont hit it make_robot_go_straight_with_gyro(360*1,-8,500) # go 1/2 way across the rest of table make_robot_go_straight_with_gyro(360*3.6,20,600) # go full way across the rest of table #-------------------------- end LARRY mission group 2 ---------------------------- if (mission_group==3) and (this_robot_name== "Larry"): set_fork_angle(10,500) # bring forks up,SO FLIPPER CLEARS FORK make_robot_go_straight_with_gyro(260+170,0,300) rotate_robot(-30,90,0) make_robot_go_straight_with_gyro(480,-999,300) rotate_robot(0,90,0) make_robot_go_straight_with_gyro(360,-999,250) # ram 1 time make_robot_go_straight_with_gyro(-120,-999,200) make_robot_go_straight_with_gyro(120,-999,400) # ram 2nd time make_robot_go_straight_with_gyro(-120,-999,400) #make_robot_go_straight_with_gyro(120,-999,400) # ram 3rd time make_robot_go_straight_with_gyro(-360,-999,400) rotate_robot(-30,90,0) make_robot_go_straight_with_gyro(-700,-999,400) if (mission_group==3) and (this_robot_name== "JERRY"): set_fork_angle(10,500) # bring forks up,SO FLIPPER CLEARS FORK make_robot_go_straight_with_gyro(260+170,0,300) rotate_robot(-30,90,0) make_robot_go_straight_with_gyro(480,-999,300) rotate_robot(0,90,0) make_robot_go_straight_with_gyro(360,-999,250) # ram 1 time make_robot_go_straight_with_gyro(-120,-999,200) make_robot_go_straight_with_gyro(120,-999,400) # ram 2nd time make_robot_go_straight_with_gyro(-120,-999,400) #make_robot_go_straight_with_gyro(120,-999,400) # ram 3rd time make_robot_go_straight_with_gyro(-360,-999,400) rotate_robot(-30,90,0) make_robot_go_straight_with_gyro(-700,-999,400) if (mission_group==4) and (this_robot_name== "Larry"): make_robot_go_straight_with_gyro(160,0,300) rotate_robot(-45,200,0) make_robot_go_straight_with_gyro(300,-999,300) set_fork_angle(130,500) # bring forks down5 rotate_robot(0,200,0) make_robot_go_straight_with_gyro(350,-999,300) set_fork_angle(80,300) # bring forks down5 set_fork_angle(130,300) # bring forks down5 set_fork_angle(80,300) # bring forks down5 set_fork_angle(130,300) # bring forks down5 set_fork_angle(80,300) # bring forks down5 set_fork_angle(130,300) # bring forks down5 set_fork_angle(80,300) # bring forks down5 set_fork_angle(130,300) # bring forks down5 #make_robot_go_straight_with_gyro(-170,-999,400) rotate_robot(-125,90,0) set_fork_angle(70,300) # bring forks down5 make_robot_go_straight_with_gyro(50,-999,400) set_fork_angle(30,300) # bring forksup set_fork_angle(70,300) # bring forks down5 make_robot_go_straight_with_gyro(50,-999,400) set_fork_angle(30,300) # bring forks up set_fork_angle(70,300) # bring forks down5 make_robot_go_straight_with_gyro(50,-999,400) set_fork_angle(30,300) # bring forks up set_fork_angle(70,300) # bring forks down5 set_fork_angle(30,300) # bring forks up rotate_robot(-199,300,0) #turn around to go move the energy units off the solar plant make_robot_go_straight_with_gyro(-360*1.28,-999,400) #go right nest to plant rotate_robot(-190,400,0) # turn to face back wall make_robot_go_straight_with_gyro(-90,-999,500) rotate_robot(-245,400,0) make_robot_go_straight_with_gyro(-300,-999,500) return if (mission_group==4) and (this_robot_name== "JERRY"): make_robot_go_straight_with_gyro(160,0,300) rotate_robot(-45,200,0) make_robot_go_straight_with_gyro(300,-999,300) set_fork_angle(130,500) # bring forks down5 rotate_robot(0,200,0) make_robot_go_straight_with_gyro(350,-999,300) set_fork_angle(80,300) # bring forks down5 set_fork_angle(130,300) # bring forks down5 set_fork_angle(80,300) # bring forks down5 set_fork_angle(130,300) # bring forks down5 set_fork_angle(80,300) # bring forks down5 set_fork_angle(130,300) # bring forks down5 set_fork_angle(80,300) # bring forks down5 set_fork_angle(130,300) # bring forks down5 #make_robot_go_straight_with_gyro(-170,-999,400) rotate_robot(-125,90,0) set_fork_angle(70,300) # bring forks down5 make_robot_go_straight_with_gyro(50,-999,400) set_fork_angle(30,300) # bring forksup set_fork_angle(70,300) # bring forks down5 make_robot_go_straight_with_gyro(50,-999,400) set_fork_angle(30,300) # bring forks up set_fork_angle(70,300) # bring forks down5 make_robot_go_straight_with_gyro(50,-999,400) set_fork_angle(30,300) # bring forks up set_fork_angle(70,300) # bring forks down5 set_fork_angle(30,300) # bring forks up rotate_robot(-199,300,0) make_robot_go_straight_with_gyro(-360*1.28,-999,400) rotate_robot(-190,400,0) make_robot_go_straight_with_gyro(-90,-999,500) rotate_robot(-245,400,0) make_robot_go_straight_with_gyro(-300,-999,500) return if (mission_group==5): while(True): #set_fork_angle(down,300) # bring forks down, releasing all 3 energy units fork_motor.dc(80) #flip forkk down fast print ("DC=80") wait(150) print ("Going up") set_fork_angle(up,500) # bring forks up,lifing bar in cas we missed make_robot_go_straight_with_gyro(move_degrees,5,300) # go the rest of the way way to powerr plant print ("got here") # ---------------------------------------------------------------------- #test code to see hw may degreees we have to rotate the tires in oppossite # directions to get the robot to rotate 360 degrees # ---------------------------------------------------------------------- def test_how_many_tire_degrees_it_takes_for_robot_to_rotate_on_axis(): #right_motor.run_target(rms,degrees_tire_rotation,wait=False) actual_angle = gyro.angle() target =0 while ( actual_angle <360): target=target +1 left_motor.run_target(100,-1*target,wait=False) right_motor.run_target(100,target,wait=True) actual_angle = gyro.angle() print ("Angle= " , actual_angle, "target =",target) # ---------------------------------------------------------------------- # Write your program here. #jerry.speaker.say("Transport Colonel Jerry has received orders from his Generals") gyro.reset_angle(0) # SET THE MAXIMUM SPEED, ACCELERATION AND TORQUE OF THE MOTORS. # this is needed becasue the tires tend to slip when robot # is accelerationg or braking. These errors can add up and make # the robot unreliable. Also the fork can jerk hard and mess up. # default values are (800, 1600,100) # coltrol.limits(max_speeed, accleration, torque) if(1): fork_motor.control.limits(1000,1600,200) left_motor.control.limits(1000,1200,100) right_motor.control.limits(1000,1200,100) # get the name of the robot. Each robot is a little differnet and some of the code is tweaked for the exact robot # this is becasue the tire sizes are not exactly the same and the over all distance that the robot travles # can be off by a few inces at the end of a long mission. f=open("/etc/hostname") this_robot_name = f.read().strip() setup_forklift() set_fork_angle(5,500) gyro.reset_angle(0) test_gyro_drift() #test_how_many_tire_degrees_it_takes_for_robot_to_rotate_on_axis() #super_test_rotate_robot() #rotate_robot(90,100,0) #wait(1000) #rotate_robot(0,100,0) #wait(1000) #run_mission_group(2) run_the_menue() #run_mission_group(5) #make_robot_go_straight_with_gyro (360*10,0,300) #make_robot_go_straight_with_gyro (360*-10,0,300) #connmanctl #enable wifi #scan wifi #services #agent on #connect wifi_74da38f2e886_6c6f755f77696669_managed_psk #quit #Enter the word "maker" and press Enter. #Delete the "ev3dev" text and enter the name you want your robot to have when you connect to it. #Press CTRL + X when you are ready and nano will ask you if you wish to save your changes. #Press "Y" to confirm the changes and press Enter. #Reboot the EV3 Brick #rename robot # nano /etc/hostname # December 29 2021 # re built the forks on the robot to make it more useful for missions # rewrote the fork zero functions. # updated code for Group 1 to use new forks

2 replies

dlech Feb 6, 2023
Maintainer

import random

I'm guessing this is line 19 where the error occurred? You can use import urandom instead (or import urandom as random if you don't want to rename random to urandom in the rest of your code).

dlech Feb 6, 2023
Maintainer

I also just pushed out a change that removes /usr/lib/pybricks-micropython from usys.path to avoid this problem altogether (build 2441).

badassloumd · 2023-02-07T00:23:59Z

badassloumd
Feb 7, 2023
Author

You’re speaking over my head… Is there someway I can make this work?

…

On Feb 6, 2023, at 1:30 PM, David Lechner ***@***.***> wrote: I also just pushed out a change that removes /usr/lib/pybricks-micropython from usys.path to avoid this problem altogether. — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.

1 reply

dlech Feb 7, 2023
Maintainer

Grab the latest build (2441):

curl -k -L https://nightly.link/pybricks/pybricks-micropython/workflows/build/master/pybricks-micropython-build-2441.zip -O
unzip pybricks-micropython-build-2441.zip
chmod +x pybricks-micropython

badassloumd · 2023-02-07T01:10:49Z

badassloumd
Feb 7, 2023
Author

Will do -- I am on it!! TY!

…

On 2023-02-06 19:26, David Lechner wrote: Grab the latest build (2441): curl -k -L https://nightly.link/pybricks/pybricks-micropython/workflows/build/master/pybricks-micropython-build-2441.zip -O unzip pybricks-micropython-build-2441.zip chmod +x pybricks-micropython -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***> Links: ------ [1] #935 (reply in thread) [2] https://github.com/notifications/unsubscribe-auth/AOU7DDCTNIIXJNWW3L2Q53LWWGJB3ANCNFSM6AAAAAAUQY7OBA

0 replies

badassloumd · 2023-02-07T01:42:15Z

badassloumd
Feb 7, 2023
Author

the file is not a valid zip file.. only 604 bytes?

…

-rw-r--r-- 1 root root 604 Feb 7 01:41 pybricks-micropython-build-2441.zip

On 2023-02-06 19:26, David Lechner wrote: Grab the latest build (2441): curl -k -L https://nightly.link/pybricks/pybricks-micropython/workflows/build/master/pybricks-micropython-build-2441.zip -O unzip pybricks-micropython-build-2441.zip chmod +x pybricks-micropython -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***> Links: ------ [1] #935 (reply in thread) [2] https://github.com/notifications/unsubscribe-auth/AOU7DDCTNIIXJNWW3L2Q53LWWGJB3ANCNFSM6AAAAAAUQY7OBA

1 reply

dlech Feb 7, 2023
Maintainer

Try this one: https://nightly.link/pybricks/pybricks-micropython/workflows/build/master/pybricks-micropython-build-2442.zip

badassloumd · 2023-02-07T02:00:47Z

badassloumd
Feb 7, 2023
Author

I am on it...

…

On 2023-02-06 20:51, David Lechner wrote: Try this one: https://nightly.link/pybricks/pybricks-micropython/workflows/build/master/pybricks-micropython-build-2442.zip -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***> Links: ------ [1] #935 (reply in thread) [2] https://github.com/notifications/unsubscribe-auth/AOU7DDBL2X6OF67G63ZO7H3WWGTANANCNFSM6AAAAAAUQY7OBA

0 replies

badassloumd · 2023-02-07T02:42:38Z

badassloumd
Feb 7, 2023
Author

it works, sort of .. The code runs -- bit for some reason the code that looks at the front buttons of EV3 is bombing.. code: jerry = EV3Brick() b =jerry.buttons.pressed() print ("b=",b) if (b==[]): wait(1) #print ("no press",b) else: print ("not sure whats up here..",b) jerry.speaker.beep(2000,10) if (b[0]==Button.UP): output: b= () not sure whats up here.. () Traceback (most recent call last): File "/home/robot/jerry_test_1/main.py", line 1098, in <module> File "/home/robot/jerry_test_1/main.py", line 616, in run_the_menue IndexError: tuple index out of range ---------- Exited with error code 1. Is something different with the way the front panel buttones are pressed? Sorry to be such a pain in the butt..

…

---Lou

On 2023-02-06 20:51, David Lechner wrote: Try this one: https://nightly.link/pybricks/pybricks-micropython/workflows/build/master/pybricks-micropython-build-2442.zip -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***> Links: ------ [1] #935 (reply in thread) [2] https://github.com/notifications/unsubscribe-auth/AOU7DDBL2X6OF67G63ZO7H3WWGTANANCNFSM6AAAAAAUQY7OBA

1 reply

dlech Feb 7, 2023
Maintainer

The return type was changed. Instead of if (b==[]):, use if not b:. In Python, empty lists/tuples/strings/etc. are falsey.

badassloumd · 2023-02-07T03:02:55Z

badassloumd
Feb 7, 2023
Author

TY by the way, our team, Nuclear Knights (Team 43265) is going to FLL STATE!!! Thanks to YOUR python !!!!!

…

----Lou

On 2023-02-06 21:58, David Lechner wrote: The return type was changed. Instead of if (b==[]):, use if not b. In Python, empty lists/tuples/strings/etc. are falsey. -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***> Links: ------ [1] #935 (reply in thread) [2] https://github.com/notifications/unsubscribe-auth/AOU7DDACD7GGEAPLZGRPUPLWWG25BANCNFSM6AAAAAAUQY7OBA

1 reply

dlech Feb 7, 2023
Maintainer

Congratulations!

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Super stupid questions - sorry-- what version do I have ? #935

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Pybricks

Super stupid questions - sorry-- what version do I have ? #935

badassloumd Feb 3, 2023

Replies: 12 comments · 10 replies

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badassloumd
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