From 1e5d42ba53ea0c631dbc6f21887839c91571ebca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jure=20=C5=BDabkar?= <jure.zabkar@fri.uni-lj.si>
Date: Tue, 13 Oct 2015 12:24:41 +0200
Subject: Uvodne vaje za robotiko
---
robot/problems/introduction/rotateback/common.py | 111 +++++++++++++++++++++
robot/problems/introduction/rotateback/common.py~ | 111 +++++++++++++++++++++
robot/problems/introduction/rotateback/en.py | 15 +++
.../introduction/rotateback/naloga11_rotateBack.py | 48 +++++++++
.../rotateback/naloga11_rotateBack_old.py | 56 +++++++++++
.../rotateback/old_naloga11_rotateBack.py | 53 ++++++++++
robot/problems/introduction/rotateback/sl.py | 33 ++++++
robot/problems/introduction/rotateback/sl.py~ | 36 +++++++
8 files changed, 463 insertions(+)
create mode 100644 robot/problems/introduction/rotateback/common.py
create mode 100644 robot/problems/introduction/rotateback/common.py~
create mode 100644 robot/problems/introduction/rotateback/en.py
create mode 100644 robot/problems/introduction/rotateback/naloga11_rotateBack.py
create mode 100644 robot/problems/introduction/rotateback/naloga11_rotateBack_old.py
create mode 100644 robot/problems/introduction/rotateback/old_naloga11_rotateBack.py
create mode 100644 robot/problems/introduction/rotateback/sl.py
create mode 100644 robot/problems/introduction/rotateback/sl.py~
(limited to 'robot/problems/introduction/rotateback')
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>'''],
+}
--
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