3. Bot radio v3
This adds spinning, use of the LEDS and straight line adjustments.
3.1. MOVEMotor v2 radio v3 files:
Hex Files for the MOVEMotor v2 can be loaded via the project:open button at: https://python.microbit.org/v/3
Hex file for the bot
MOVEMotor2 bot_v3 hex file.Hex file for the hand held controller
MOVEMotor2 controller_v3 hex file.3.2. MOVEMotor v3.1 radio v3 files:
Hex Files for the MOVEMotor v3.1 can be loaded via the project:open button at: https://python.microbit.org/v/3
Hex file for the bot
MOVEMotor bot_v3 hex file.Hex file for the hand held controller
MOVEMotor controller_v3 hex file.3.3. Unique groups
Change the group number in
radio.config(group=8) to set unique groups in the room.Make sure all microbits using a bot have the same group number (0-255).
Edit the code below to set the group.
MOVEMotor bot code, change radio group to match bot number
MOVEMotor_v31 200 + bot number
MOVEMotor v2 150 + bot number
3.4. Radio for controller
The code below moves the MOVEMotor at three speeds which can be modified easily by altering
fast, medium, slow = 10, 3, 1.Several colours are predefined for use in the 4 leds.
Spinning is included.
Straight line adjustments are included.
# MOVEMotor bot code, change radio group to match bot number
# MOVEMotor_v31 200 + bot number
# MOVEMotor v2 150 + bot number
from microbit import *
import radio
radio.config(group=151) # 0-255
radio.on()
dec_left = 0
dec_right = 0
biaslist =['decleft', 'resetbias', 'decright']
while True:
sleep(50)
msg = ""
if pin0.is_touched():
#dec_left +=20
msg = "decleft"
elif pin1.is_touched():
#dec_left = 0
#dec_right = 0
msg = "resetbias"
elif pin2.is_touched():
#dec_right +=20
msg = "decright"
elif button_a.is_pressed() and button_b.is_pressed():
# stop
msg = "X"
elif button_a.is_pressed():
# spin
msg = "sL"
elif button_b.is_pressed():
# spin
msg = "sR"
else:
y_reading = accelerometer.get_y()
x_reading = accelerometer.get_x()
# level
if -200 <= y_reading <= 200 and -200 <= x_reading <= 200:
msg = "X"
# level sideways only
elif -200 <= x_reading <= 200:
if y_reading > 700:
msg = "D"
elif y_reading > 500:
msg = "C"
elif y_reading > 200:
msg = "B"
elif y_reading < -700:
msg = "H"
elif y_reading < -500:
msg = "G"
elif y_reading < -200:
msg = "F"
else:
if x_reading > 700:
msg = "T"
elif x_reading > 500:
msg = "S"
elif x_reading > 200:
msg = "R"
elif x_reading < -700:
msg = "N"
elif x_reading < -500:
msg = "M"
elif x_reading < -200:
msg = "L"
radio.send(msg)
if msg in biaslist:
display.show(biaslist.index(msg))
else:
display.show(msg)
3.5. Code for microbit on MOVEMotor
The code below moves the MOVEMotor at three speeds which can be modified easily by altering
fast, medium, slow = 10, 3, 1.Several colours are predefined for use in the 4 leds.
Spinning is included.
Straight line adjustments are included.
# MOVEMotor bot code, change radio group to match bot number
# MOVEMotor_v31 200 + bot number
# MOVEMotor v2 150 + bot number
from microbit import *
import radio
import MOVEMotor
import neopixel
# set speeds
fast, medium, slow = 10, 3, 1
radio.config(group=151) # 0-255
radio.on()
np = neopixel.NeoPixel(pin8, 4)
white = (255, 255, 255)
red = (255, 0, 0)
yellow = (255, 255, 0)
orange = (255, 94, 5)
green = (0, 128, 0)
cyan = (0, 255, 255)
blue = (0, 0, 255)
magenta = (255, 0, 255)
# led position numbers
lf, lb, rf, rb = 0, 3, 1, 2
# Function to adjust brightness
def adjust_brightness(color, brightness):
return tuple(int(brightness * x) for x in color)
def np_stopped(lvl=1.0):
for led_num in range(4):
np[led_num] = adjust_brightness(red, lvl)
np.show()
def np_forwards(lvl=1.0):
for led_num in range(4):
np[led_num] = adjust_brightness(green, lvl)
np.show()
def np_backwards(lvl=1.0):
for led_num in range(4):
np[led_num] = adjust_brightness(magenta, lvl)
np.show()
def np_right(lvl=1.0):
for led_num in [rf, rb]:
np[led_num] = adjust_brightness(yellow, lvl)
np.show()
def np_spinright(lvl=1.0):
for led_num in [rf, rb]:
np[led_num] = adjust_brightness(orange, lvl)
np.show()
def np_left(lvl=1.0):
for led_num in [lf, lb]:
np[led_num] = adjust_brightness(cyan, lvl)
np.show()
def np_spinleft(lvl=1.0):
for led_num in [lf, lb]:
np[led_num] = adjust_brightness(blue, lvl)
np.show()
def leds0ff():
np.clear()
buggy = MOVEMotor.MOVEMotorMotors()
dec_left = 0
dec_right = 0
biaslist =['decleft', 'resetbias', 'decright']
while True:
sleep(50)
msg = radio.receive()
if msg is not None:
if msg in biaslist:
display.show(biaslist.index(msg))
else:
display.show(msg)
if msg == "decleft":
dec_left +=20
elif msg == "decright":
dec_right +=20
elif msg == "resetbias":
dec_left = 0
dec_right = 0
elif msg == "B":
buggy.backwards(speed=slow, decrease_left=dec_left, decrease_right=dec_right)
np_backwards(0.2)
elif msg == "C":
buggy.backwards(speed=medium, decrease_left=dec_left, decrease_right=dec_right)
np_backwards(0.5)
elif msg == "D":
buggy.backwards(speed=fast, decrease_left=dec_left, decrease_right=dec_right)
np_backwards()
elif msg == "F":
buggy.forwards(speed=slow, decrease_left=dec_left, decrease_right=dec_right)
np_forwards(0.2)
elif msg == "G":
buggy.forwards(speed=medium, decrease_left=dec_left, decrease_right=dec_right)
np_forwards(0.5)
elif msg == "H":
buggy.forwards(speed=fast, decrease_left=dec_left, decrease_right=dec_right)
np_forwards()
elif msg == "X":
buggy.stop()
np_stopped(0.1)
elif msg == "L":
buggy.left(speed=slow, radius=5)
np_left()
elif msg == "M":
buggy.left(speed=medium, radius=20)
np_left(0.5)
elif msg == "N":
buggy.left(speed=fast, radius=100)
np_left(0.2)
elif msg == "R":
buggy.right(speed=slow, radius=5)
np_right()
elif msg == "S":
buggy.right(speed=medium, radius=20)
np_right(0.5)
elif msg == "T":
buggy.right(speed=fast, radius=100)
np_right(0.2)
elif msg == "sL":
buggy.spin_left(speed=slow)
np_spinleft()
elif msg == "sR":
buggy.spin_right(speed=slow)
np_spinright()
3.6. Radio Mods
Tasks
Adjust the colours for the 4 leds on the MOVEMotor.
Modify the speed settings to suit an obstacle course.