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/wall1m/common.py | 80 ++++++++++++++++++++++ robot/problems/introduction/wall1m/common.py~ | 80 ++++++++++++++++++++++ robot/problems/introduction/wall1m/en.py | 14 ++++ .../introduction/wall1m/naloga06_wall1m.py | 27 ++++++++ .../introduction/wall1m/naloga06_wall1m.py~ | 31 +++++++++ .../introduction/wall1m/naloga06_wall1m_testing.py | 43 ++++++++++++ robot/problems/introduction/wall1m/sl.py | 31 +++++++++ robot/problems/introduction/wall1m/sl.py~ | 31 +++++++++ 8 files changed, 337 insertions(+) create mode 100644 robot/problems/introduction/wall1m/common.py create mode 100644 robot/problems/introduction/wall1m/common.py~ create mode 100644 robot/problems/introduction/wall1m/en.py create mode 100644 robot/problems/introduction/wall1m/naloga06_wall1m.py create mode 100644 robot/problems/introduction/wall1m/naloga06_wall1m.py~ create mode 100644 robot/problems/introduction/wall1m/naloga06_wall1m_testing.py create mode 100644 robot/problems/introduction/wall1m/sl.py create mode 100644 robot/problems/introduction/wall1m/sl.py~ (limited to 'robot/problems/introduction/wall1m') diff --git a/robot/problems/introduction/wall1m/common.py b/robot/problems/introduction/wall1m/common.py new file mode 100644 index 0000000..319cea2 --- /dev/null +++ b/robot/problems/introduction/wall1m/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 = 215 +group = 'introduction' +number = 6 +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( 'ultrasonic' ) +robot.move_steering( 'on', power=80 ) +while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500: + pass +robot.move_steering( 'on', power=20 ) +while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200: + pass +robot.move_steering( 'off' ) +''' + +hint_type = { + 'mW_init': Hint('mW_init'), + 'connectMotorLeft': Hint('connectMotorLeft'), + 'connectMotorRight': Hint('connectMotorRight'), + 'moveSteeringOn': Hint('moveSteeringOn'), + 'moveSteeringOff': Hint('moveSteeringOff'), + 'connectUltrasonicSensor': Hint('connectUltrasonicSensor'), + 'ultrasonicSensorMeasure': Hint('ultrasonicSensorMeasure'), + 'power80': Hint('power80'), + 'power20': Hint('power20'), + 'while': Hint('while') +} + +def hint( code ): + tokens = get_tokens(code) + lines = code.split('\n') + + # 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_sensor', '(']) and 'ultrasonic' in code) : + return [{'id': 'connectUltrasonicSensor'}] + + if not (has_token_sequence(tokens, ['move_steering', '(']) and 'on' in code): + return [{'id': 'moveSteeringOn'}] + + if not (has_token_sequence(tokens, ['move_steering', '(']) and 'off' in code): + return [{'id': 'moveSteeringOff'}] + + #if not (has_token_sequence(tokens, ['ultrasonic_sensor_measure', '(']) and 'distance-cm' in code): + if not any(('ultrasonic_sensor_measure' in s and '(' in s and 'distance-cm' in s) for s in lines) + return [{'id': 'ultrasonicSensorMeasure'}] + + if not any(('power' in s and '80' in s and '=' in s) for s in lines): + return [{'id': 'power80'}] + + if not any(('power' in s and '20' in s and '=' in s) for s in lines): + return [{'id': 'power20'}] + + if not has_token_sequence(tokens, ['while']): + return [{'id': 'while'}] + + return None diff --git a/robot/problems/introduction/wall1m/common.py~ b/robot/problems/introduction/wall1m/common.py~ new file mode 100644 index 0000000..319cea2 --- /dev/null +++ b/robot/problems/introduction/wall1m/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 = 215 +group = 'introduction' +number = 6 +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( 'ultrasonic' ) +robot.move_steering( 'on', power=80 ) +while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500: + pass +robot.move_steering( 'on', power=20 ) +while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200: + pass +robot.move_steering( 'off' ) +''' + +hint_type = { + 'mW_init': Hint('mW_init'), + 'connectMotorLeft': Hint('connectMotorLeft'), + 'connectMotorRight': Hint('connectMotorRight'), + 'moveSteeringOn': Hint('moveSteeringOn'), + 'moveSteeringOff': Hint('moveSteeringOff'), + 'connectUltrasonicSensor': Hint('connectUltrasonicSensor'), + 'ultrasonicSensorMeasure': Hint('ultrasonicSensorMeasure'), + 'power80': Hint('power80'), + 'power20': Hint('power20'), + 'while': Hint('while') +} + +def hint( code ): + tokens = get_tokens(code) + lines = code.split('\n') + + # 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_sensor', '(']) and 'ultrasonic' in code) : + return [{'id': 'connectUltrasonicSensor'}] + + if not (has_token_sequence(tokens, ['move_steering', '(']) and 'on' in code): + return [{'id': 'moveSteeringOn'}] + + if not (has_token_sequence(tokens, ['move_steering', '(']) and 'off' in code): + return [{'id': 'moveSteeringOff'}] + + #if not (has_token_sequence(tokens, ['ultrasonic_sensor_measure', '(']) and 'distance-cm' in code): + if not any(('ultrasonic_sensor_measure' in s and '(' in s and 'distance-cm' in s) for s in lines) + return [{'id': 'ultrasonicSensorMeasure'}] + + if not any(('power' in s and '80' in s and '=' in s) for s in lines): + return [{'id': 'power80'}] + + if not any(('power' in s and '20' in s and '=' in s) for s in lines): + return [{'id': 'power20'}] + + if not has_token_sequence(tokens, ['while']): + return [{'id': 'while'}] + + return None diff --git a/robot/problems/introduction/wall1m/en.py b/robot/problems/introduction/wall1m/en.py new file mode 100644 index 0000000..ec91c7b --- /dev/null +++ b/robot/problems/introduction/wall1m/en.py @@ -0,0 +1,14 @@ +# coding=utf-8 +import server +mod = server.problems.load_language('python', 'en') + +id = 215 +name = 'To the wall' +slug = 'To the wall' + +description = '''\ +''' + +hint = { + +} diff --git a/robot/problems/introduction/wall1m/naloga06_wall1m.py b/robot/problems/introduction/wall1m/naloga06_wall1m.py new file mode 100644 index 0000000..e3be37c --- /dev/null +++ b/robot/problems/introduction/wall1m/naloga06_wall1m.py @@ -0,0 +1,27 @@ +#!/usr/bin/python +# coding=utf-8 + +print (""" +Naloga 6: + Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir. + Napisi program, s katerim bo robot vozil naravnost proti zidu z 80% mocjo. + Na razdalji 50 cm od zida naj robot zmanjsa hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi. +""") +import sys +sys.path.append('/home/user/codeq') +import time +from ev3dev import * +from mindstorms_widgets import mindstorms_widgets + +robot = mindstorms_widgets() +robot.connect_motor( 'left' ) +robot.connect_motor( 'right' ) +robot.connect_sensor( 'ultrasonic' ) +robot.move_steering( 'on', power=80 ) +while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500: + pass +robot.move_steering( 'on', power=20 ) +while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200: + pass +robot.move_steering( 'off' ) + diff --git a/robot/problems/introduction/wall1m/naloga06_wall1m.py~ b/robot/problems/introduction/wall1m/naloga06_wall1m.py~ new file mode 100644 index 0000000..f7e6bad --- /dev/null +++ b/robot/problems/introduction/wall1m/naloga06_wall1m.py~ @@ -0,0 +1,31 @@ +#!/usr/bin/python +# coding=utf-8 + +print """ +Naloga 6: + Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir. + Napisi program, s katerim bo robot vozil naravnost proti zidu z 80% mocjo. + Na razdalji 50 cm od zida naj robot zmanjsa hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi. +""" + +import time +from ev3dev import * +from mindstorms_widgets import mindstorms_widgets + +us = ultrasonic_sensor(); assert us.connected +us.mode = 'US-DIST-CM' # Continuous measurement of distance (0-2550 mm) + +# for m in us.modes: +# print "\t",m +#exit() +robot = mindstorms_widgets() +robot.connect_motor( 'left' ) +robot.connect_motor( 'right' ) + +robot.move_steering( 'on', power=80 ) +while us.value()>500: + pass +robot.move_steering( 'on', power=20 ) +while us.value()>200: + pass +robot.move_steering( 'off' ) diff --git a/robot/problems/introduction/wall1m/naloga06_wall1m_testing.py b/robot/problems/introduction/wall1m/naloga06_wall1m_testing.py new file mode 100644 index 0000000..a7e449c --- /dev/null +++ b/robot/problems/introduction/wall1m/naloga06_wall1m_testing.py @@ -0,0 +1,43 @@ +#!/usr/bin/python +# coding=utf-8 + +print (""" +Naloga 6: + Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir. + Napisi program, s katerim bo robot vozil naravnost proti zidu z 80% mocjo. + Na razdalji 50 cm od zida naj robot zmanjsa hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi. +""") +import sys +sys.path.append('/home/user/codeq') +import time +from ev3dev import * +from mindstorms_widgets import mindstorms_widgets + +robot = mindstorms_widgets() +robot.connect_motor( 'left' ) +robot.connect_motor( 'right' ) + +mw=True + +if mw: + robot.connect_sensor( 'ultrasonic' ) + robot.move_steering( 'on', power=80 ) + while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500: + print(robot.ultrasonic_sensor_measure( 'distance-cm' ) ) + print(robot.ultrasonic_sensor_measure( 'distance-cm' ) ) + robot.move_steering( 'on', power=20 ) + while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200: + print(robot.ultrasonic_sensor_measure( 'distance-cm' ) ) + robot.move_steering( 'off' ) +else: + us = ultrasonic_sensor() + assert us.connected + us.mode = 'US-DIST-CM' # Continuous measurement of distance (0-2550 mm) + robot.move_steering( 'on', power=80 ) + while us.value()>500: + print( us.value() ) + print( us.value() ) + robot.move_steering( 'on', power=20 ) + while us.value()>200: + print( us.value() ) + robot.move_steering( 'off' ) diff --git a/robot/problems/introduction/wall1m/sl.py b/robot/problems/introduction/wall1m/sl.py new file mode 100644 index 0000000..18518d5 --- /dev/null +++ b/robot/problems/introduction/wall1m/sl.py @@ -0,0 +1,31 @@ +# coding=utf-8 + +name = 'Pelji do zida' +slug = 'Pelji do zida' + +description = '''\ +

Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir. + Napiši program, s katerim bo robot vozil naravnost proti zidu z 80% močjo. + Na razdalji 50 cm od zida naj robot zmanjša hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi.

''' + +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' ).

'''], + 'moveSteeringOn':['''

Sinhroniziraj motorja in ju zaženi.

''', + '''

Za sinhronizirano vožnjo je najbolj primerna metoda robot.move_steering( 'on' ).

'''], + 'moveSteeringOff':['''

Ustavi motorja.

''', + '''

robot.move_steering( 'off' ).

'''], + 'power80': ['''

Nastavi moč motorjev na 80%.

''', + '''

robot.move_steering( 'on', power=80 ).

'''], + 'power20': ['''

Nastavi moč motorjev na 20%.

''', + '''

robot.move_steering( 'on', power=20 ).

'''], + 'connectUltrasonicSensor':['''

Robotu moramo priključiti ultrazvočni senzor.

''', + '''

robot.connect_sensor( 'ultrasonic' ).

'''], + 'ultrasonicSensorMeasure':['''

Medtem ko se robot pomika naprej, naj uporabi ultrazvočni senzor v načinu 'distance-cm', s katerim meri razdaljo v cm.

''', + '''

robot.ultrasonic_sensor_measure( 'distance-cm' ).

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

Uporabi zanko: robot naj se pelje naprej, dokler ne pride do razdalje 50 cm od zida.

''', + '''

Uporabi še eno zanko: robot naj se pelje naprej z 20% močjo, dokler ne pride do razdalje 20 cm od zida.

'''], +} diff --git a/robot/problems/introduction/wall1m/sl.py~ b/robot/problems/introduction/wall1m/sl.py~ new file mode 100644 index 0000000..8455bab --- /dev/null +++ b/robot/problems/introduction/wall1m/sl.py~ @@ -0,0 +1,31 @@ +# coding=utf-8 + +name = 'Pelji do zida' +slug = 'Pelji do zida' + +description = '''\ +

Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir. + Napisi program, s katerim bo robot vozil naravnost proti zidu z 80% mocjo. + Na razdalji 50 cm od zida naj robot zmanjsa hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi.

''' + +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' ).

'''], + 'moveSteeringOn':['''

Sinhroniziraj motorja in ju zaženi.

''', + '''

Za sinhronizirano vožnjo je najbolj primerna metoda robot.move_steering( 'on' ).

'''], + 'moveSteeringOff':['''

Ustavi motorja.

''', + '''

robot.move_steering( 'off' ).

'''], + 'power80': ['''

Nastavi moč motorjev na 80%.

''', + '''

robot.move_steering( 'on', power=80 ).

'''], + 'power20': ['''

Nastavi moč motorjev na 20%.

''', + '''

robot.move_steering( 'on', power=20 ).

'''], + 'connectUltrasonicSensor':['''

Robotu moramo priključiti ultrazvočni senzor.

''', + '''

robot.connect_sensor( 'ultrasonic' ).

'''], + 'ultrasonicSensorMeasure':['''

Medtem ko se robot pomika naprej, naj uporabi ultrazvočni senzor v načinu 'distance-cm', s katerim meri razdaljo v cm.

''', + '''

robot.ultrasonic_sensor_measure( 'distance-cm' ).

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

Uporabi zanko: robot naj se pelje naprej, dokler ne pride do razdalje 50 cm od zida.

''', + '''

Uporabi še eno zanko: robot naj se pelje naprej z 20% močjo, dokler ne pride do razdalje 20 cm od zida.

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