Source code of IA158 homework - Lego EV3(dev) sumo robot

sumo.py

#!/usr/bin/python3

from ev3dev.ev3 import LargeMotor, ColorSensor, InfraredSensor, TouchSensor, Button, Sound
from time import sleep
from threading import Thread

m1 = LargeMotor('outA')
m2 = LargeMotor('outD')
cl = ColorSensor()
ir = InfraredSensor()
# ts = TouchSensor()
btn = Button()

cl.mode = 'COL-REFLECT'
ir.mode = 'IR-PROX'

gonna_fly_now_lyrics = """
    Trying hard now
    It's so hard now
    Trying hard now
    Gettin' strong now
    Coming on, now
    Gettin' strong now
    Gonna fly now
    Flyin' high now
    Gonna fly, fly, fly
"""

AVOID_LINE = 0  # used as a "global lock" - indicator that maneuver to stay in field is performed

def timed_charge(seconds, turn=False, speed=800, ignore_avoid=False):
    """Helper function for control of the motors"""
    if not ignore_avoid and AVOID_LINE:
        return
    m1.stop()
    m2.stop()
    m1.run_timed(time_sp=seconds * 1000, speed_sp=speed)
    m2.run_timed(time_sp=seconds * 1000, speed_sp=-speed if turn else speed)
    sleep(seconds)

def turn_around():
    """Reverse and turn robot if he hits the edge of the playground."""
    Sound.speak('OHHH OUUUU')
    print('Turning')
    global AVOID_LINE
    AVOID_LINE = 1
    timed_charge(2, speed=-1000, ignore_avoid=True)
    timed_charge(1.3, speed=1000, turn=True, ignore_avoid=True)
    AVOID_LINE = 0

def fake_and_hit():
    """Robot fakes turn to get off his enemy and then hit him from the side."""
    if AVOID_LINE:
        return
    m1.stop()
    m2.stop()
    print('AMBUSH')
    m1.run_timed(time_sp=1800, speed_sp=-700)
    sleep(1.8)
    Sound.speak('AMBUSH MOTHERF**KER!')
    timed_charge(2)

def charge():
    """Speed up the robot to highest possible speed and aggresively shout."""
    if AVOID_LINE:
        return
    print('CHAARGE')
    Sound.speak('DESTROY' * 10)
    timed_charge(4)

Sound.speak(gonna_fly_now_lyrics)  # war song

def check_line():
    """Assures that robot will detect edge of the battlefield and back off.
     
     This is supposed to be run in separate thread to assure that we won't 
     get out of the field in some of the maneuvers. 
     """
    while not btn.any():
        if cl.value() > 50:  # If line is detected, back off and turn around
            print('line_detected')
            m1.stop()
            m2.stop()
            turn_around()

        sleep(0.001)


class Worker(Thread):
    def run(self):
        """Main function of the robot which contains the offensive functionality."""
        c = 0
        while not btn.any():
            if AVOID_LINE:
                sleep(0.1)
                continue

            # mod 50 to prevent permanent turning of the robot
            if c % 50 == 0:
                distances = []
                for i in range(42):
                    distance = ir.value()
                    if distance < 60:
                        break # stops turning in case we detect someone close enough
                    timed_charge(0.1, turn=True, speed=1000)
                    distances.append(distance)
                else:
                    # otherwise gets the minimum and turns to given direction
                    timed_charge(0.1 * distances.index(min(distances)) + 0.1, turn=True, speed=1000)


            m1.run_forever(speed_sp=900)
            m2.run_forever(speed_sp=900)

            # disabled because it wasn't efficient enough in battle conditions
            # if ts.value():  # on touch of the front sensor, ambush the robot
            #     fake_and_hit()

            if ir.value() < 60:  # charge in case robot is near of us
                charge()

            c += 1

            sleep(0.1)  # to help with counter and assure context switch to more important thread


if __name__ == '__main__':
    Thread(target=check_line).start()
    Worker().start()