Operácie

Kitronik :MOVE mini MK2

Z SensorWiki

Druhá, vylepšená verzia :MOVE od firmy Kitronik.


KitronikMOVEmk2.png
Kitronik :MOVE mk2.


Základné programy

Blinker

Pre prácu so svetielkami na hornej hrane robota je potrebné nahrať knižnicu Neopixel

Jednoduchý program pre blinker, funguje na tlačítka - stlačením ľavého tlačidla 🅰 sa zapne ľavá smerovka, pravým tlačidlom 🅱 sa zapne pravá. Stlačením oboch 🅰+🅱 sa blinker vypne.


input.onButtonPressed(Button.A, function () {
    turn_left_indicator_on = true
    turn_right_indicator_on = false
    indicator.clear()
    indicator.show()
})
input.onButtonPressed(Button.AB, function () {
    turn_left_indicator_on = false
    turn_right_indicator_on = false
    indicator.clear()
    indicator.show()
})
input.onButtonPressed(Button.B, function () {
    turn_left_indicator_on = false
    turn_right_indicator_on = true
    indicator.clear()
    indicator.show()
})
let turn_right_indicator_on = false
let turn_left_indicator_on = false
let indicator: neopixel.Strip = null
indicator = neopixel.create(DigitalPin.P0, 5, NeoPixelMode.RGB)
indicator.setBrightness(80)
basic.forever(function () {
    if (turn_left_indicator_on == true) {
        indicator.setPixelColor(0, neopixel.colors(NeoPixelColors.Orange))
        indicator.show()
        basic.pause(75)
        indicator.setPixelColor(0, neopixel.colors(NeoPixelColors.Black))
        indicator.show()
        basic.pause(75)
    } else if (turn_right_indicator_on == true) {
        indicator.setPixelColor(4, neopixel.colors(NeoPixelColors.Orange))
        indicator.show()
        basic.pause(75)
        indicator.setPixelColor(4, neopixel.colors(NeoPixelColors.Black))
        indicator.show()
        basic.pause(75)
    }
})
def on_button_pressed_a():
    global turn_left_indicator_on, turn_right_indicator_on
    turn_left_indicator_on = True
    turn_right_indicator_on = False
    indicator.clear()
    indicator.show()
input.on_button_pressed(Button.A, on_button_pressed_a)

def on_button_pressed_ab():
    global turn_left_indicator_on, turn_right_indicator_on
    turn_left_indicator_on = False
    turn_right_indicator_on = False
    indicator.clear()
    indicator.show()
input.on_button_pressed(Button.AB, on_button_pressed_ab)

def on_button_pressed_b():
    global turn_left_indicator_on, turn_right_indicator_on
    turn_left_indicator_on = False
    turn_right_indicator_on = True
    indicator.clear()
    indicator.show()
input.on_button_pressed(Button.B, on_button_pressed_b)

turn_right_indicator_on = False
turn_left_indicator_on = False
indicator: neopixel.Strip = None
indicator = neopixel.create(DigitalPin.P0, 5, NeoPixelMode.RGB)
indicator.set_brightness(80)

def on_forever():
    if turn_left_indicator_on == True:
        indicator.set_pixel_color(0, neopixel.colors(NeoPixelColors.ORANGE))
        indicator.show()
        basic.pause(75)
        indicator.set_pixel_color(0, neopixel.colors(NeoPixelColors.BLACK))
        indicator.show()
        basic.pause(75)
    elif turn_right_indicator_on == True:
        indicator.set_pixel_color(4, neopixel.colors(NeoPixelColors.ORANGE))
        indicator.show()
        basic.pause(75)
        indicator.set_pixel_color(4, neopixel.colors(NeoPixelColors.BLACK))
        indicator.show()
        basic.pause(75)
basic.forever(on_forever)

Základné pohyby

Výrobca, firma Kitronik poskytuje pre robota špeciálnu knižnicu. Niekedy sa volá iba Kitronik, ale väčšinou ju nájdete pod názvom Servo:Lite

Tento ukážkový program len pohýbe všetkými smermi a potom skončí.



kitronik_servo_lite.forward()
basic.pause(500)
kitronik_servo_lite.backward()
basic.pause(500)
kitronik_servo_lite.right()
basic.pause(500)
kitronik_servo_lite.left()
basic.pause(500)
kitronik_servo_lite.stop()
kitronik_servo_lite.forward()
basic.pause(500)
kitronik_servo_lite.backward()
basic.pause(500)
kitronik_servo_lite.right()
basic.pause(500)
kitronik_servo_lite.left()
basic.pause(500)
kitronik_servo_lite.stop()

Line following robot

Robot musí byť doplnený špeciálnym senzorom, ktorý sa pripojí k expanznej doske, umožňujúcej využiť aj viac ako 3 vstupy P0 - P3. Samozrejmosťou je tiež vopred nahrať knižnicu Kitronik


let Left_Detector = 0
let Right_Detector = 0
pins.setPull(DigitalPin.P15, PinPullMode.PullUp)
pins.setPull(DigitalPin.P16, PinPullMode.PullUp)

basic.forever(function on_forever() {
    
    Right_Detector = pins.digitalReadPin(DigitalPin.P15)
    Left_Detector = pins.digitalReadPin(DigitalPin.P16)
    if (Left_Detector == 1 && Right_Detector == 1) {
        kitronik.forward()
    } else if (Left_Detector == 0 && Right_Detector == 1) {
        kitronik.left()
    } else if (Left_Detector == 1 && Right_Detector == 0) {
        kitronik.right()
    } else if (Left_Detector == 0 && Right_Detector == 0) {
        kitronik.forward()
    }
    
})
Left_Detector = 0
Right_Detector = 0
pins.set_pull(DigitalPin.P15, PinPullMode.PULL_UP)
pins.set_pull(DigitalPin.P16, PinPullMode.PULL_UP)


def on_forever():
    global Right_Detector, Left_Detector
    Right_Detector = pins.digital_read_pin(DigitalPin.P15)
    Left_Detector = pins.digital_read_pin(DigitalPin.P16)
    if Left_Detector == 1 and Right_Detector == 1:
        kitronik.forward()
    elif Left_Detector == 0 and Right_Detector == 1:
        kitronik.left()
    elif Left_Detector == 1 and Right_Detector == 0:
        kitronik.right()
    elif Left_Detector == 0 and Right_Detector == 0:
        kitronik.forward()
basic.forever(on_forever)

Ultrazvukový senzor

Pre prácu s ultrazvukovým senzorom je potrebné nahrať knižnicu Sonar

Jednoduchý program, ktorý ukáže ako robot zastaví pred prekážkou


let Distance = 0
pins.setPull(DigitalPin.P8, PinPullMode.PullUp)
pins.setPull(DigitalPin.P10, PinPullMode.PullUp)
basic.forever(function () {
    Distance = sonar.ping(
    DigitalPin.P8,
    DigitalPin.P10,
    PingUnit.Centimeters
    )
    if (Distance > 4) {
        kitronik_servo_lite.driveForwards(1)
    } else {
        kitronik_servo_lite.stop()
    }
})
Distance = 0
pins.set_pull(DigitalPin.P8, PinPullMode.PULL_UP)
pins.set_pull(DigitalPin.P10, PinPullMode.PULL_UP)

def on_forever():
    global Distance
    Distance = sonar.ping(DigitalPin.P8, DigitalPin.P10, PingUnit.CENTIMETERS)
    if Distance > 4:
        kitronik_servo_lite.drive_forwards(1)
    else:
        kitronik_servo_lite.stop()
basic.forever(on_forever)



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