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/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 = '''\ +

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).

''' + +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' ).

'''], + 'connectTouch':['''

Robotu priključi stikalo

''', + '''

robot.connect_sensor( 'touch' ).

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

Žiroskop na začetku in ob pritisku na stikalo 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().

'''], + 'ifTouch':['''

Preveri, če je stikalo pritisnjeno.

''', + '''

if robot.touch_sensor_measure():.

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

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

''', + '''

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

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

Robot naj se obrne na mestu.

''', + '''

Najprimernejša metoda za to je move_tank

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

Program naj teče v neskončni zanki.

''', + '''

while 1:

'''], +} 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 = '''\ +

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).

''' + +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' ).

'''], + 'connectTouch':['''

Robotu priključi stikalo

''', + '''

robot.connect_sensor( 'touch' ).

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

Žiroskop na začetku in ob pritisku na stikalo 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().

'''], + 'ifTouch':['''

Preveri, če je stikalo pritisnjeno.

''', + '''

if robot.touch_sensor_measure():.

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

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

''', + '''

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

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

Robot naj se obrne na mestu.

''', + '''

Najprimernejša metoda za to je move_tank

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

Program naj teče v neskončni zanki.

''', + '''

while 1:

'''], +} -- cgit v1.2.1