useless.py

#!/usr/bin/env python3

"""Demo of useless machine using BrickPi3"""


import time
import ev3dev.brickpi as bp


if __name__ == '__main__':
    # BrickPi3 cannot detect sensors, so we have to say which sensor is attached to each port
    portS1 = bp.LegoPort('spi0.1:S1')
    portS1.mode = 'ev3-uart'
    portS1.set_device = 'lego-ev3-color'

    # BrickPi3 cannot detect motors either, but they are setup already be default
    
    # Initialize the sensors and motors
    color_sensor = bp.ColorSensor('spi0.1:S1')
    motor = bp.LargeMotor('spi0.1:MA')
    motor.reset()
    motor.run_direct(duty_cycle_sp=50)
    time.sleep(0.5)
    motor.stop(stop_action='brake')
    motor.position = 0

    time.sleep(3) # it takes some time for the sensor to start up
    
    # Main program loop
    while True:
        if color_sensor.value() < 10:
            time.sleep(0.5)
            if color_sensor.value() > 10:
                continue
            motor.run_to_abs_pos(position_sp=-120, speed_sp=400)
            # motor.wait_while('running')
            time.sleep(0.5)
            motor.run_to_abs_pos(position_sp=0, speed_sp=400)
            # motor.wait_while('running')
            time.sleep(0.5)
            motor.stop(stop_action='brake')
        time.sleep(0.1)