Uvodne vaje za robotiko

8 files changed, 463 insertions, 0 deletions

diff --git a/robot/problems/introduction/rotateback/common.py b/robot/problems/introduction/rotateback/common.py
new file mode 100644
index 0000000..c009d37
--- /dev/null
+++ b/robot/problems/introduction/rotateback/common.py
@@ -0,0 +1,111 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 212
+group = 'introduction'
+number = 11
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+robot.connect_sensor( 'touch' )
+
+smer = hitrost = 0
+robot.reset_gyro()
+robot.gyro_set_mode( 'angle' )
+prev_smer = -1
+while 1:
+    smer = robot.gyro_sensor_measure()
+    if smer!=prev_smer:
+        print ("Kot:", smer)
+        prev_smer = smer
+    
+    if robot.touch_sensor_measure():
+        robot.reset_gyro()
+        print ( robot.gyro_sensor_measure() )
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'connectGyro': Hint('connectGyro'),
+    'connectTouch': Hint('connectTouch'),
+    'resetGyro': Hint('resetGyro'),
+    'setGyroMode': Hint('setGyroMode'),
+    'gyroMeasure': Hint('gyroMeasure'),
+    'ifTouch': Hint('ifTouch'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower'),
+    'while': Hint('while')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_gyro','(']) and 'gyro' in code):
+        return [{'id': 'connectGyro'}]
+    
+    if not (has_token_sequence(tokens, ['connect_sensor','(']) and 'touch' in code):
+        return [{'id': 'connectTouch'}]
+    
+    if not has_token_sequence(tokens, ['reset_gyro']):
+        return [{'id': 'resetGyro'}]
+
+    if not has_token_sequence(tokens, ['gyro_set_mode']):
+        return [{'id': 'setGyroMode'}]
+
+    if not has_token_sequence(tokens, ['gyro_sensor_measure']):
+        return [{'id': 'gyroMeasure'}]
+
+    if not has_token_sequence(tokens, ['if','touch_sensor_measure','(']):
+        return [{'id': 'ifTouch'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+    
+    if not 'lr_power' in code:
+        return [{'id': 'lrPower'}]
+
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/rotateback/common.py~ b/robot/problems/introduction/rotateback/common.py~
new file mode 100644
index 0000000..c7c199c
--- /dev/null
+++ b/robot/problems/introduction/rotateback/common.py~
@@ -0,0 +1,111 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 212
+group = 'introduction'
+number = 11
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+robot.connect_sensor( 'touch' )
+
+smer = hitrost = 0
+robot.reset_gyro()
+robot.gyro_set_mode( 'angle' )
+prev_smer = -1
+while 1:
+    smer = robot.gyro_sensor_measure()
+    if smer!=prev_smer:
+        print ("Kot:", smer)
+        prev_smer = smer
+    
+    if robot.touch_sensor_measure():
+        robot.reset_gyro()
+        print ( robot.gyro_sensor_measure() )
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'connectGyro': Hint('connectGyro'),
+    'connectTouch': Hint('connectTouch'),
+    'resetGyro': Hint('resetGyro'),
+    'setGyroMode': Hint('setGyroMode'),
+    'gyroMeasure': Hint('gyroMeasure'),
+    'ifTouch': Hint('ifTouch'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower'),
+    'while': Hint('while')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['connect_gyro','(', 'gyro', ')']):
+        return [{'id': 'connectGyro'}]
+    
+    if not has_token_sequence(tokens, ['connect_sensor','(', 'touch', ')']):
+        return [{'id': 'connectTouch'}]
+    
+    if not has_token_sequence(tokens, ['reset_gyro()']):
+        return [{'id': 'resetGyro'}]
+
+    if not has_token_sequence(tokens, ['gyro_set_mode']):
+        return [{'id': 'setGyroMode'}]
+
+    if not has_token_sequence(tokens, ['gyro_sensor_measure()']):
+        return [{'id': 'gyroMeasure'}]
+
+    if not has_token_sequence(tokens, ['if','touch_sensor_measure','(',')']):
+        return [{'id': 'ifTouch'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+    
+    if not has_token_sequence(tokens, ['lr_power']):
+        return [{'id': 'lrPower'}]
+
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/rotateback/en.py b/robot/problems/introduction/rotateback/en.py
new file mode 100644
index 0000000..5d8d059
--- /dev/null
+++ b/robot/problems/introduction/rotateback/en.py
@@ -0,0 +1,15 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 212
+name = 'Rotate back'
+slug = 'Rotate back'
+
+description = '''\
+
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/rotateback/naloga11_rotateBack.py b/robot/problems/introduction/rotateback/naloga11_rotateBack.py
new file mode 100644
index 0000000..0bab735
--- /dev/null
+++ b/robot/problems/introduction/rotateback/naloga11_rotateBack.py
@@ -0,0 +1,48 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print ("""
+Naloga 11: 
+""")
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+robot.connect_sensor( 'touch' )
+
+smer = hitrost = 0
+robot.reset_gyro()
+robot.gyro_set_mode( 'angle' )
+prev_smer = -1
+while 1:
+    smer = robot.gyro_sensor_measure()
+    if smer!=prev_smer:
+        print ("Kot:", smer)
+        prev_smer = smer
+    
+    if robot.touch_sensor_measure():
+        robot.reset_gyro()
+        print ( robot.gyro_sensor_measure() )
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
diff --git a/robot/problems/introduction/rotateback/naloga11_rotateBack_old.py b/robot/problems/introduction/rotateback/naloga11_rotateBack_old.py
new file mode 100644
index 0000000..39ab3bb
--- /dev/null
+++ b/robot/problems/introduction/rotateback/naloga11_rotateBack_old.py
@@ -0,0 +1,56 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print """
+Naloga 11:
+"""
+
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+# the sensor should be perfectly still while resetting the gyro
+def resetGyro(gyro):
+    gyro.mode = 'GYRO-RATE'
+    gyro.mode = 'GYRO-ANG'
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+gyro = gyro_sensor()
+assert gyro.connected
+gyro.mode = 'GYRO-ANG'
+
+touch = touch_sensor()
+assert touch.connected
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+smer = hitrost = 0
+resetGyro(gyro)
+prev_smer = -1
+while 1:
+    smer = gyro.value()
+    if smer!=prev_smer:
+        print "Kot:", smer
+        prev_smer = smer
+    
+    if touch.value():
+        resetGyro(gyro)
+        print gyro.value()
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
diff --git a/robot/problems/introduction/rotateback/old_naloga11_rotateBack.py b/robot/problems/introduction/rotateback/old_naloga11_rotateBack.py
new file mode 100644
index 0000000..a14c91d
--- /dev/null
+++ b/robot/problems/introduction/rotateback/old_naloga11_rotateBack.py
@@ -0,0 +1,53 @@
+#!/usr/bin/python
+# coding=utf-8
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+# the sensor should be perfectly still while resetting the gyro
+def resetGyro(gyro):
+    gyro.mode = 'GYRO-RATE'
+    gyro.mode = 'GYRO-ANG'
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+gyro = gyro_sensor()
+assert gyro.connected
+gyro.mode = 'GYRO-ANG'
+
+touch = touch_sensor()
+assert touch.connected
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+smer = hitrost = 0
+resetGyro(gyro)
+prev_smer = -1
+while 1:
+    smer = gyro.value()
+    if smer!=prev_smer:
+        print ("Kot:", smer)
+        prev_smer = smer
+    
+    if touch.value():
+        resetGyro(gyro)
+        print( gyro.value())
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
diff --git a/robot/problems/introduction/rotateback/sl.py b/robot/problems/introduction/rotateback/sl.py
new file mode 100644
index 0000000..269ea34
--- /dev/null
+++ b/robot/problems/introduction/rotateback/sl.py
@@ -0,0 +1,33 @@
+# coding=utf-8
+
+name = 'Drži smer'
+slug = 'Drži smer'
+
+description = '''\
+<p>Robot naj drži smer - če ga obrnemo iz začetne smeri, naj se zasuka nazaj v prvotno smer. Ob pritisku na stikalo, naj se resetira (smer nastavi na 0).</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'connectGyro':['''<p>Robotu priključi žiroskop</p>''',
+                 '''<p><code>robot.connect_sensor( 'gyro' )</code>.</p>'''],
+    'connectTouch':['''<p>Robotu priključi stikalo</p>''',
+                 '''<p><code>robot.connect_sensor( 'touch' )</code>.</p>'''],
+    'resetGyro':['''<p>Žiroskop na začetku in ob pritisku na stikalo resetiraj.</p>''',
+                 '''<p><code>robot.reset_gyro()</code>.</p>'''],
+    'setGyroMode':['''<p>Žiroskopu nastavi način delovanja na merjenje kotov.</p>''',
+                   '''<p><code>robot.gyro_set_mode('angle')</code>.</p>'''],
+    'gyroMeasure':['''<p>Preberi vrednost žiroskopa.</p>''',
+                   '''<p><code>robot.gyro_sensor_measure()</code>.</p>'''],
+    'ifTouch':['''<p>Preveri, če je stikalo pritisnjeno.</p>''',
+               '''<p><code>if robot.touch_sensor_measure():</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'while':['''<p>Program naj teče v neskončni zanki.</p>''',
+             '''<p><code>while 1:</code></p>'''],
+}
diff --git a/robot/problems/introduction/rotateback/sl.py~ b/robot/problems/introduction/rotateback/sl.py~
new file mode 100644
index 0000000..0b91379
--- /dev/null
+++ b/robot/problems/introduction/rotateback/sl.py~
@@ -0,0 +1,36 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'sl')
+
+id = 212
+name = 'Drži smer'
+slug = 'Drži smer'
+
+description = '''\
+<p>Robot naj drži smer - če ga obrnemo iz začetne smeri, naj se zasuka nazaj v prvotno smer. Ob pritisku na stikalo, naj se resetira (smer nastavi na 0).</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'connectGyro':['''<p>Robotu priključi žiroskop</p>''',
+                 '''<p><code>robot.connect_sensor( 'gyro' )</code>.</p>'''],
+    'connectTouch':['''<p>Robotu priključi stikalo</p>''',
+                 '''<p><code>robot.connect_sensor( 'touch' )</code>.</p>'''],
+    'resetGyro':['''<p>Žiroskop na začetku in ob pritisku na stikalo resetiraj.</p>''',
+                 '''<p><code>robot.reset_gyro()</code>.</p>'''],
+    'setGyroMode':['''<p>Žiroskopu nastavi način delovanja na merjenje kotov.</p>''',
+                   '''<p><code>robot.gyro_set_mode('angle')</code>.</p>'''],
+    'gyroMeasure':['''<p>Preberi vrednost žiroskopa.</p>''',
+                   '''<p><code>robot.gyro_sensor_measure()</code>.</p>'''],
+    'ifTouch':['''<p>Preveri, če je stikalo pritisnjeno.</p>''',
+               '''<p><code>if robot.touch_sensor_measure():</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'while':['''<p>Program naj teče v neskončni zanki.</p>''',
+             '''<p><code>while 1:</code></p>'''],
+}