janmasarik/IA158_HW.md

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    # sPyd3r
# sPyd3r

    Lego MINDSTORMS EV3 SUMO robot
Lego MINDSTORMS EV3 SUMO robot


    IA158 Real Time systems homework
IA158 Real Time systems homework


    ###  Task performed
###  Task performed


    * created robot from a scratch
* created robot from a scratch

    * flashed ev3dev debian based linux image to sd card and then booted it
* flashed ev3dev debian based linux image to sd card and then booted it

    * implemented functionality of the robot in python
* implemented functionality of the robot in python

    * showed demo of functionality
* showed demo of functionality


    ### Implementation
### Implementation


    This was quite easy part. `ev3dev` provides very [detailed guide how to get started](http://www.ev3dev.org/docs/getting-started/). Then we followed [this nice tutorial](https://sites.google.com/site/ev3python/learn_ev3_python) and tried some basics through interactive python3 shell.
This was quite easy part. `ev3dev` provides very [detailed guide how to get started](http://www.ev3dev.org/docs/getting-started/). Then we followed [this nice tutorial](https://sites.google.com/site/ev3python/learn_ev3_python) and tried some basics through interactive python3 shell.


    After that we implemented desired functionality into python script and tested it.
After that we implemented desired functionality into python script and tested it.


    There were some small issues / gotchas:
There were some small issues / gotchas:


    * in case you have color sensor too close to the ground, it will report false positives
* in case you have color sensor too close to the ground, it will report false positives

    * angle of infra sensor is quite important
* angle of infra sensor is quite important


    Overally we were really satisfied with `ev3dev` project and would definitely recommend it over leJOS.
Overally we were really satisfied with `ev3dev` project and would definitely recommend it over leJOS.


    ### Deviations from the abstract
### Deviations from the abstract


    * We used `ev3dev` instead of leJOS since we prefer Python over Java. `ev3dev` is also more active in recent years than leJOS.
* We used `ev3dev` instead of leJOS since we prefer Python over Java. `ev3dev` is also more active in recent years than leJOS.

    * Otherwise none. We used 3 sensors, 2 motors, 2 threads (including the main one).
* Otherwise none. We used 3 sensors, 2 motors, 2 threads (including the main one).


    ### Use of concurrency and timing
### Use of concurrency and timing


    We used concurrency to check for black line which specifies playground and for safe turn-off. Concurrency was also used without explicit threads.
We used concurrency to check for black line which specifies playground and for safe turn-off. Concurrency was also used without explicit threads.


    Timing was used to aggresive charge or turning of the robot.
Timing was used to aggresive charge or turning of the robot.


    ### Team work
### Team work

    * we met together and did it together in person (3 afternoons)
* we met together and did it together in person (3 afternoons)


    ### [Source code](https://gist.github.com/janmasarik/4a5e4e69028c7a1fa7d621c91f6486d2)
### [Source code](https://gist.github.com/janmasarik/4a5e4e69028c7a1fa7d621c91f6486d2)