From 1e5d42ba53ea0c631dbc6f21887839c91571ebca Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jure=20=C5=BDabkar?= Date: Tue, 13 Oct 2015 12:24:41 +0200 Subject: Uvodne vaje za robotiko --- robot/problems/introduction/gyro90/common.py | 80 ++++++++++++++++++++++ robot/problems/introduction/gyro90/common.py~ | 80 ++++++++++++++++++++++ robot/problems/introduction/gyro90/en.py | 15 ++++ .../introduction/gyro90/naloga07_gyro90.py | 25 +++++++ .../introduction/gyro90/naloga07_gyro90.py~ | 34 +++++++++ robot/problems/introduction/gyro90/sl.py | 29 ++++++++ robot/problems/introduction/gyro90/sl.py~ | 32 +++++++++ 7 files changed, 295 insertions(+) create mode 100644 robot/problems/introduction/gyro90/common.py create mode 100644 robot/problems/introduction/gyro90/common.py~ create mode 100644 robot/problems/introduction/gyro90/en.py create mode 100644 robot/problems/introduction/gyro90/naloga07_gyro90.py create mode 100644 robot/problems/introduction/gyro90/naloga07_gyro90.py~ create mode 100644 robot/problems/introduction/gyro90/sl.py create mode 100644 robot/problems/introduction/gyro90/sl.py~ (limited to 'robot/problems/introduction/gyro90') diff --git a/robot/problems/introduction/gyro90/common.py b/robot/problems/introduction/gyro90/common.py new file mode 100644 index 0000000..b44d15d --- /dev/null +++ b/robot/problems/introduction/gyro90/common.py @@ -0,0 +1,80 @@ +# 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 = 209 +group = 'introduction' +number = 7 +visible = True + +solution = '''\ +from ev3dev import * +from mindstorms_widgets import mindstorms_widgets + +robot = mindstorms_widgets() +robot.connect_motor( 'left' ) +robot.connect_motor( 'right' ) +robot.connect_sensor( 'gyro' ) + +robot.gyro_set_mode( 'angle' ) +robot.reset_gyro() + +power = 15 +robot.move_tank( 'on', lr_power=[power,-power] ) +while robot.gyro_sensor_measure() < 90: + pass +robot.move_tank( 'off' ) +''' + +hint_type = { + 'mW_init': Hint('mW_init'), + 'connectMotorLeft': Hint('connectMotorLeft'), + 'connectMotorRight': Hint('connectMotorRight'), + 'connectGyro': Hint('connectGyro'), + 'resetGyro': Hint('resetGyro'), + 'setGyroMode': Hint('setGyroMode'), + 'gyroMeasure': Hint('gyroMeasure'), + '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, ['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, ['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/gyro90/common.py~ b/robot/problems/introduction/gyro90/common.py~ new file mode 100644 index 0000000..c02a2c4 --- /dev/null +++ b/robot/problems/introduction/gyro90/common.py~ @@ -0,0 +1,80 @@ +# 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 = 209 +group = 'introduction' +number = 7 +visible = True + +solution = '''\ +from ev3dev import * +from mindstorms_widgets import mindstorms_widgets + +robot = mindstorms_widgets() +robot.connect_motor( 'left' ) +robot.connect_motor( 'right' ) +robot.connect_sensor( 'gyro' ) + +robot.gyro_set_mode( 'angle' ) +robot.reset_gyro() + +power = 15 +robot.move_tank( 'on', lr_power=[power,-power] ) +while robot.gyro_sensor_measure() < 90: + pass +robot.move_tank( 'off' ) +''' + +hint_type = { + 'mW_init': Hint('mW_init'), + 'connectMotorLeft': Hint('connectMotorLeft'), + 'connectMotorRight': Hint('connectMotorRight'), + 'connectGyro': Hint('connectGyro'), + 'resetGyro': Hint('resetGyro'), + 'setGyroMode': Hint('setGyroMode'), + 'gyroMeasure': Hint('gyroMeasure'), + '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, ['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, ['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/gyro90/en.py b/robot/problems/introduction/gyro90/en.py new file mode 100644 index 0000000..12c782c --- /dev/null +++ b/robot/problems/introduction/gyro90/en.py @@ -0,0 +1,15 @@ +# coding=utf-8 +import server +mod = server.problems.load_language('python', 'en') + +id = 209 +name = 'Gyro 90' +slug = 'Gyro 90' + +description = '''\ + +''' + +hint = { + +} diff --git a/robot/problems/introduction/gyro90/naloga07_gyro90.py b/robot/problems/introduction/gyro90/naloga07_gyro90.py new file mode 100644 index 0000000..84d4ca1 --- /dev/null +++ b/robot/problems/introduction/gyro90/naloga07_gyro90.py @@ -0,0 +1,25 @@ +#!/usr/bin/python +# coding=utf-8 + +print (""" +Naloga 7: + Robot naj se na mestu obrne za 90 stopinj v desno; pri tem naj si pomaga z ziroskopom. +""") +import sys +sys.path.append('/home/user/codeq') +from ev3dev import * +from mindstorms_widgets import mindstorms_widgets + +robot = mindstorms_widgets() +robot.connect_motor( 'left' ) +robot.connect_motor( 'right' ) +robot.connect_sensor( 'gyro' ) + +robot.gyro_set_mode( 'angle' ) +robot.reset_gyro() + +power = 15 +robot.move_tank( 'on', lr_power=[power,-power] ) +while robot.gyro_sensor_measure() < 90: + pass +robot.move_tank( 'off' ) diff --git a/robot/problems/introduction/gyro90/naloga07_gyro90.py~ b/robot/problems/introduction/gyro90/naloga07_gyro90.py~ new file mode 100644 index 0000000..97e42ee --- /dev/null +++ b/robot/problems/introduction/gyro90/naloga07_gyro90.py~ @@ -0,0 +1,34 @@ +#!/usr/bin/python +# coding=utf-8 + +print """ +Naloga 7: + Robot naj se na mestu obrne za 90 stopinj v desno; pri tem naj si pomaga z ziroskopom. +""" + +import time +from ev3dev import * +from mindstorms_widgets import mindstorms_widgets + +gs = gyro_sensor(); +assert gs.connected +gs.mode = 'GYRO-ANG' # Angle (degrees), value: (-32768 to 32767) + +# for m in us.modes: +# print "\t",m +#exit() +robot = mindstorms_widgets() +robot.connect_motor( 'left' ) +robot.connect_motor( 'right' ) + +power = 15 +robot.move_tank( 'on', lr_power=[power,-power] ) +while gs.value()<90: + pass +robot.move_tank( 'off', brake_at_end=True ) +# print gs.value() +# gs = gyro_sensor(); +# assert gs.connected +# gs.mode = 'GYRO-ANG' +# +# print "--->",gs.value() \ No newline at end of file diff --git a/robot/problems/introduction/gyro90/sl.py b/robot/problems/introduction/gyro90/sl.py new file mode 100644 index 0000000..0a82c6d --- /dev/null +++ b/robot/problems/introduction/gyro90/sl.py @@ -0,0 +1,29 @@ +# coding=utf-8 + +name = 'Žiroskop 90' +slug = 'Žiroskop 90' + +description = '''\ +

Robot naj se na mestu obrne za 90 stopinj v desno; pri tem naj si pomaga z žiroskopom.

''' + +hint = { + 'mW_init':['''

Robota v programu predstavimo z mindstorms_widgets(): robot = mindstorms_widgets().

'''], + 'connectMotorLeft':['''

Robotu priključi levi motor.

''', + '''

robot.connect_motor( 'left' ).

'''], + 'connectMotorRight':['''

Robotu priključi desni motor.

''', + '''

robot.connect_motor( 'right' ).

'''], + 'connectGyro':['''

Robotu priključi žiroskop.

''', + '''

robot.connect_sensor( 'gyro' ).

'''], + 'resetGyro':['''

Žiroskop na začetku resetiraj.

''', + '''

robot.reset_gyro().

'''], + 'setGyroMode':['''

Žiroskopu nastavi način delovanja na merjenje kotov.

''', + '''

robot.gyro_set_mode('angle').

'''], + 'gyroMeasure':['''

Preberi vrednost žiroskopa.

''', + '''

robot.gyro_sensor_measure().

'''], + 'lrPower':['''

Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.

''', + '''

robot.move_tank( 'on', lr_power=[hitrost, -hitrost], ... ).

'''], + 'moveTank':['''

Robot naj se obrne na mestu.

''', + '''

Najprimernejša metoda za to je move_tank

'''], + 'while':['''

Program naj teče dokler je kot zasuka manjši od 90 stopinj.

''', + '''

robot.gyro_sensor_measure() < 90:

'''], +} diff --git a/robot/problems/introduction/gyro90/sl.py~ b/robot/problems/introduction/gyro90/sl.py~ new file mode 100644 index 0000000..76939f7 --- /dev/null +++ b/robot/problems/introduction/gyro90/sl.py~ @@ -0,0 +1,32 @@ +# coding=utf-8 +import server +mod = server.problems.load_language('python', 'sl') + +id = 209 +name = 'Žiroskop 90' +slug = 'Žiroskop 90' + +description = '''\ +

Robot naj se na mestu obrne za 90 stopinj v desno; pri tem naj si pomaga z žiroskopom.

''' + +hint = { + 'mW_init':['''

Robota v programu predstavimo z mindstorms_widgets(): robot = mindstorms_widgets().

'''], + 'connectMotorLeft':['''

Robotu priključi levi motor.

''', + '''

robot.connect_motor( 'left' ).

'''], + 'connectMotorRight':['''

Robotu priključi desni motor.

''', + '''

robot.connect_motor( 'right' ).

'''], + 'connectGyro':['''

Robotu priključi žiroskop.

''', + '''

robot.connect_sensor( 'gyro' ).

'''], + 'resetGyro':['''

Žiroskop na začetku resetiraj.

''', + '''

robot.reset_gyro().

'''], + 'setGyroMode':['''

Žiroskopu nastavi način delovanja na merjenje kotov.

''', + '''

robot.gyro_set_mode('angle').

'''], + 'gyroMeasure':['''

Preberi vrednost žiroskopa.

''', + '''

robot.gyro_sensor_measure().

'''], + 'lrPower':['''

Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.

''', + '''

robot.move_tank( 'on', lr_power=[hitrost, -hitrost], ... ).

'''], + 'moveTank':['''

Robot naj se obrne na mestu.

''', + '''

Najprimernejša metoda za to je move_tank

'''], + 'while':['''

Program naj teče dokler je kot zasuka manjši od 90 stopinj.

''', + '''

robot.gyro_sensor_measure() < 90:

'''], +} \ No newline at end of file -- cgit v1.2.1