robolab autumn course – a/d & mechanics

by M.Sc. Samuel Knobloch

Faculty of Computer Science, Institute of Systems Architecture, Chair of Systems Engineering

RoboLab Autumn Course – A/D & Mechanics

RoboLab Autumn Course – A/D & MechanicsFaculty of Computer Science, Institute of Systems Architecture, Chair of Systems EngineeringSamuel Knobloch

Slide 2

Overview

● EV3DEV: Color Sensor

● EV3DEV: Large Motor

● EV3DEV: Text-to-Speech

● Using the Deploy-Script

● Further information about Assignment 5, the Exam and the LEGO box


Slide 3

EV3DEV: Color Sensor

● Can measure light intensity and color values

● Has an ambient light for better detection

● We use this sensor for reading the bar code cards and converting it into a digital representation

➔ You need to measure a threshold for detecting RED, WHITE and BLACK (or try to use the defaults)

● Example:

>>> import ev3dev.ev3 as ev3

>>> cs = ev3.ColorSensor(‘in1’)>>> cs.mode = ‘RGB-RAW‘>>> cs.bin_data(“hhh”)(354, 415, 543)


Slide 4

EV3DEV: Large Motor

● Belongs to the class of Tacho Motors

● Has several switches for adjusting rotation speed, ramp up/down time, how to stop, reset etc.

● We use these motors for moving the sensor and as step-wise paper feed

● Example:

import ev3dev.ev3 as ev3

lm = ev3.LargeMotor(‘outA’)lm.run_to_abs_pos(position_sp=0, speed_sp=50, stop_action=‘hold‘)lm.wait_while(‘running‘)

print(lm.position()) # Prints e.g. -120


Slide 5

EV3DEV: Text-to-Speech

● Your robot can speak! The sound module is capable of doing proper TTS.

● Example:

>>> import ev3dev.ev3 as ev3

>>> ev3.Sound.beep()>>> ev3.Sound.tone([(200, 100, 100), (500, 200)])>>> ev3.Sound.speak(“Hello World!“)


Slide 6

Using the Deploy-Script

● Is bundled together with the template repository (git submodule)

● Use the „--recursive“ flag while cloning your group repository

●


Slide 7

Using the Deploy-Script

● Is bundled together with the template repository (git submodule)

➔ Use the “--recursive” flag while cloning the group repository

● We recommend (for Windows) using GitBash or the WSL as environment

● How it works:

➔ Execute “./deploy“ on your local machine

➔ Your code is send to the LEGO brick

➔ A fork server will create a new environment on the brick and run your code


Slide 8

Sources and Additional Information

● https://ev3dev-lang.readthedocs.io/projects/python-ev3dev/en/stable/motors.html

● https://ev3dev-lang.readthedocs.io/projects/python-ev3dev/en/stable/sensors.html

● https://robolab.inf.tu-dresden.de/dev/deploy_script/

● https://robolab.inf.tu-dresden.de/equipment/

https://ev3dev-lang.readthedocs.io/projects/python-ev3dev/en/stable/motors.html

https://ev3dev-lang.readthedocs.io/projects/python-ev3dev/en/stable/sensors.html

https://robolab.inf.tu-dresden.de/dev/deploy_script/

https://robolab.inf.tu-dresden.de/equipment/


Slide 9

Assignment 5 – Bring your robot to life

About the Exam


Slide 10

Assignment 5 – Bring your robot to life

● Construct your robot and make sure that the range for moving the color sensor is sufficient for the bar code cards

● Bring together your already implemented parts HammingCode and StackMachine

● Implement all functions and other logic needed in order to move the sensor and feed the bar code card

➔ We provided the file “robot.py“ for this

● Write a combined unit-test using a list of Hamming Codes to feed your class and execute them afterwards

● Make yourself familiar with the deploy-script (if not already done) and have fun with your robot


Slide 11

About the Exam

● The exam is scheduled for 17th of January 2020

➔ We will restrict your repository access to read-only on this day

➔ Will be done during our session time and in group appointments

● After receiving the notification of passing all four assignments you have to enrol into the exam

➔ HISQIS: Module 140710

➔ Will be available in CW50/CW51

● We will have a final consultation on 10th of January 2020


Slide 12

LEGO Mindstorms EV3 Set


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robolab autumn course – a/d & mechanics

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