add Bobb3e program

robots/BOBB3E/README.md

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+# BOBB3E
+
+> Designed by Kenneth Ravnshøj Madsen
+>
+> This remote controlled Bobcat® can be steered to move and lift objects with the control buttons on the IR Beacon.
+
+The build instructions may be found at the official LEGO MINDSTROMS site [here](https://www.lego.com/cdn/cs/set/assets/blt1e45d9c2a9800e3c/BOBB3E.pdf).
+
+Control BOBB3E as follows:
+
+- Make BOBB3E lower the forks by pressing the IR Remote Control's 2 Left Buttons together; make him raise the forks by pressing the 2 Right Buttons together
+
+- Drive BOBB3E around according to instructions from the IR Beacon:
+    - 2 Top/Up Buttons together: drive forward
+    - 2 Bottom/Down Buttons together: drive backward
+    - Top-Left/Red-Up and Bottom-Right/Blue-Down together: turn left on the spot
+    - Top-Right/Blue-Up and Bottom-Left/Red-Down together: turn right on the spot
+    - Top-Left/Red-Up: turn left forward
+    - Top-Right/Blue-Up: turn right forward
+    - Bottom-Left/Red-Down: turn left backward
+    - Bottom-Right/Blue-Down: turn right backward
+
+- BOBB3E beeps his alarm whenever reversing

robots/BOBB3E/bobb3e.py

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+#!/usr/bin/env micropython
+
+
+from ev3dev2.motor import \
+    Motor, LargeMotor, MediumMotor, MoveTank, MoveSteering, \
+    OUTPUT_A, OUTPUT_B, OUTPUT_C
+from ev3dev2.sensor import INPUT_4
+from ev3dev2.sensor.lego import InfraredSensor
+from ev3dev2.console import Console
+from ev3dev2.sound import Sound
+
+from threading import Thread
+from time import sleep
+
+
+class Bobb3e:
+    def __init__(
+            self,
+            left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
+            lift_motor_port: str = OUTPUT_A,
+            ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1):
+        self.tank_driver = \
+            MoveTank(
+                left_motor_port=left_motor_port,
+                right_motor_port=right_motor_port,
+                motor_class=LargeMotor)
+        self.steer_driver = \
+            MoveSteering(
+                left_motor_port=left_motor_port,
+                right_motor_port=right_motor_port,
+                motor_class=LargeMotor)
+        self.tank_driver.left_motor.polarity = \
+            self.tank_driver.right_motor.polarity = \
+            self.steer_driver.left_motor.polarity = \
+            self.steer_driver.right_motor.polarity = Motor.POLARITY_INVERSED
+
+        self.lift_motor = MediumMotor(address=lift_motor_port)
+
+        self.ir_sensor = InfraredSensor(address=ir_sensor_port)
+        self.ir_beacon_channel = ir_beacon_channel
+
+        self.console = Console()
+        self.speaker = Sound()
+
+        self.reversing = False
+
+    def drive_or_operate_forks_by_ir_beacon(self, driving_speed: float = 100):
+        """
+        Read the commands from the remote control and convert them into actions
+        such as go forward, lift and turn.
+        """
+        while True:
+            # lower the forks
+            if self.ir_sensor.top_left(
+                        channel=self.ir_beacon_channel) and \
+                    self.ir_sensor.bottom_left(
+                        channel=self.ir_beacon_channel):
+                self.reversing = False
+
+                self.tank_driver.off(brake=True)
+
+                self.lift_motor.on(
+                    speed=10,
+                    brake=False,
+                    block=False)
+
+            # raise the forks
+            elif self.ir_sensor.top_right(
+                        channel=self.ir_beacon_channel) and \
+                    self.ir_sensor.bottom_right(
+                        channel=self.ir_beacon_channel):
+                self.reversing = False
+
+                self.tank_driver.off(brake=True)
+
+                self.lift_motor.on(
+                    speed=-10,
+                    brake=False,
+                    block=False)
+
+            # forward
+            elif self.ir_sensor.top_left(
+                        channel=self.ir_beacon_channel) and \
+                    self.ir_sensor.top_right(
+                        channel=self.ir_beacon_channel):
+                self.reversing = False
+
+                self.tank_driver.on(
+                    left_speed=driving_speed,
+                    right_speed=driving_speed)
+
+                self.lift_motor.off(brake=True)
+
+            # backward
+            elif self.ir_sensor.bottom_left(
+                        channel=self.ir_beacon_channel) and \
+                    self.ir_sensor.bottom_right(
+                        channel=self.ir_beacon_channel):
+                self.reversing = True
+
+                self.tank_driver.on(
+                    left_speed=-driving_speed,
+                    right_speed=-driving_speed)
+
+                self.lift_motor.off(brake=True)
+
+            # turn left on the spot
+            elif self.ir_sensor.top_left(
+                        channel=self.ir_beacon_channel) and \
+                    self.ir_sensor.bottom_right(
+                        channel=self.ir_beacon_channel):
+                self.reversing = False
+
+                self.steer_driver.on(
+                    steering=-100,
+                    speed=driving_speed)
+
+                self.lift_motor.off(brake=True)
+
+            # turn right on the spot
+            elif self.ir_sensor.top_right(
+                        channel=self.ir_beacon_channel) and \
+                    self.ir_sensor.bottom_left(
+                        channel=self.ir_beacon_channel):
+                self.reversing = False
+
+                self.steer_driver.on(
+                    steering=100,
+                    speed=driving_speed)
+
+                self.lift_motor.off(brake=True)
+
+            # turn left forward
+            elif self.ir_sensor.top_left(channel=self.ir_beacon_channel):
+                self.reversing = False
+
+                self.steer_driver.on(
+                    steering=-50,
+                    speed=driving_speed)
+
+                self.lift_motor.off(brake=True)
+
+            # turn right forward
+            elif self.ir_sensor.top_right(channel=self.ir_beacon_channel):
+                self.reversing = False
+
+                self.steer_driver.on(
+                    steering=50,
+                    speed=driving_speed)
+
+                self.lift_motor.off(brake=True)
+
+            # turn left backward
+            elif self.ir_sensor.bottom_left(channel=self.ir_beacon_channel):
+                self.reversing = True
+
+                self.tank_driver.on(
+                    left_speed=0,
+                    right_speed=-driving_speed)
+
+                self.lift_motor.off(brake=True)
+
+            # turn right backward
+            elif self.ir_sensor.bottom_right(channel=self.ir_beacon_channel):
+                self.reversing = True
+
+                self.tank_driver.on(
+                    left_speed=-driving_speed,
+                    right_speed=0)
+
+                self.lift_motor.off(brake=True)
+
+            # otherwise stop
+            else:
+                self.reversing = False
+
+                self.tank_driver.off(brake=True)
+
+                self.lift_motor.off(brake=True)
+
+            sleep(0.01)
+
+    def sound_alarm_whenever_reversing(self):
+        while True:
+            if self.reversing:
+                self.speaker.play_file(
+                    wav_file='/home/robot/sound/Backing alert.wav',
+                    volume=100,
+                    play_type=Sound.PLAY_WAIT_FOR_COMPLETE)
+
+            sleep(0.01)
+
+    def main(self, driving_speed: float = 100):
+        self.console.text_at(
+            text='BOBB3E',
+            column=3,
+            row=2,
+            reset_console=False,
+            inverse=False,
+            alignment='L')
+
+        Thread(target=self.sound_alarm_whenever_reversing).start()
+
+        self.drive_or_operate_forks_by_ir_beacon(driving_speed=driving_speed)
+
+
+if __name__ == '__main__':
+    BOBB3E = Bobb3e()
+    BOBB3E.main()