├── mitosomat.service
└── run.py


/mitosomat.service:
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 1 | [Unit]
 2 | Description=Mitosomat Service
 3 | After=brickman.service
 4 | Requisite=brickman.service
 5 | 
 6 | [Service]
 7 | Type=simple
 8 | WorkingDirectory=/home/robot
 9 | User=robot
10 | ExecStart=/usr/bin/micropython /home/robot/run.py
11 | 
12 | [Install]
13 | WantedBy=default.target
14 | 


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/run.py:
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  1 | #!/usr/bin/micropython
  2 | # Mitosomat v1.0
  3 | # Copyright (C) 2021 KaratekHD
  4 | #
  5 | # This program is free software: you can redistribute it and/or modify
  6 | # it under the terms of the GNU General Public License as published by
  7 | # the Free Software Foundation, either version 3 of the License, or
  8 | # (at your option) any later version.
  9 | #
 10 | # This program is distributed in the hope that it will be useful,
 11 | # but WITHOUT ANY WARRANTY; without even the implied warranty of
 12 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 13 | # GNU General Public License for more details.
 14 | #
 15 | # You should have received a copy of the GNU General Public License
 16 | # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 17 | 
 18 | import os
 19 | import sys
 20 | from time import sleep
 21 | 
 22 | from ev3dev2.motor import OUTPUT_A, OUTPUT_D, MoveTank, LargeMotor
 23 | from ev3dev2.sensor import INPUT_1
 24 | from ev3dev2.sensor.lego import InfraredSensor
 25 | from ev3dev2.sound import Sound
 26 | 
 27 | 
 28 | class State:
 29 |     speed = 5
 30 |     unspeed = speed * -1
 31 |     time = 4
 32 | 
 33 |     def __init__(self, id, name, tank):
 34 |         self.id = id
 35 |         self.name = name
 36 |         self.tank = tank
 37 | 
 38 |     def run(self):
 39 |         raise Exception("Override this function!")
 40 | 
 41 |     def requires(self):
 42 |         return range(0, self.id)
 43 | 
 44 | 
 45 | class ProState(State):
 46 |     '''
 47 |     Spindelfasern bilden sich
 48 |     '''
 49 | 
 50 |     def __init__(self, tank):
 51 |         self.id = 0
 52 |         self.name = "Prophase"
 53 |         self.tank = tank
 54 | 
 55 |     def run(self):
 56 |         self.tank.on_for_seconds(
 57 |             right_speed=self.speed,
 58 |             left_speed=self.unspeed,
 59 |             seconds=self.time)
 60 | 
 61 | 
 62 | class MetaState(State):
 63 |     '''
 64 |     Spindelfasern docken an
 65 |     '''
 66 | 
 67 |     def __init__(self, tank):
 68 |         self.id = 1
 69 |         self.name = "Metaphase"
 70 |         self.tank = tank
 71 | 
 72 |     def run(self):
 73 |         sleep(2.5)
 74 | 
 75 | 
 76 | class AnaState(State):
 77 |     '''
 78 |     Chromosom wird auseinander gezogen
 79 |     '''
 80 | 
 81 |     def __init__(self, tank):
 82 |         self.id = 2
 83 |         self.name = "Anaphase"
 84 |         self.tank = tank
 85 | 
 86 |     def run(self):
 87 |         self.tank.on_for_seconds(
 88 |             right_speed=self.unspeed,
 89 |             left_speed=self.speed,
 90 |             seconds=self.time)
 91 | 
 92 | 
 93 | class StateMachine:
 94 |     current_state = -1
 95 | 
 96 |     def __init__(self, tank):
 97 |         self.tank = tank
 98 |         self.states = [
 99 |             ProState(
100 |                 self.tank), MetaState(
101 |                 self.tank), AnaState(
102 |                 self.tank)]
103 | 
104 |     def goto(self, state_id):
105 |         if not state_id < len(self.states):
106 |             raise Exception("Invalid state!")
107 |         if self.current_state is not state_id - 1:
108 |             for i in self.states[state_id].requires():
109 |                 self.states[i].run()
110 |         self.current_state = state_id
111 |         self.states[state_id].run()
112 | 
113 |     def full_simulation(self):
114 |         for i in range(0, len(self.states)):
115 |             self.states[i].run()
116 | 
117 | 
118 | def main():
119 |     # Schriftgröße auf 14 setzen
120 |     os.system('setfont Lat15-TerminusBold14')
121 |     tank = MoveTank(OUTPUT_A, OUTPUT_D)
122 |     a = LargeMotor(OUTPUT_A)
123 |     d = LargeMotor(OUTPUT_D)
124 |     sm = StateMachine(tank)
125 |     dummy = State(id=-9, name="Dummy", tank=None)
126 |     speed = dummy.speed
127 |     unspeed = dummy.unspeed
128 |     print("Drücken Sie eine der Tasten auf der linken Seite der Fernbedienung, um die Simulation zu starten.")
129 |     sound = Sound()
130 |     sound.play_file('/home/robot/.sounds/ansage.wav')
131 |     ir = InfraredSensor(INPUT_1)
132 |     while True:
133 |         try:
134 |             if ir.top_left(channel=1) or ir.bottom_left(channel=1):
135 |                 sm.full_simulation()
136 |             elif ir.top_left(channel=2):
137 |                 # D vorwärts
138 |                 d.on_for_seconds(seconds=0.5, speed=speed)
139 |             elif ir.bottom_left(channel=2):
140 |                 # D rückwärts
141 |                 d.on_for_seconds(seconds=0.5, speed=unspeed)
142 |             elif ir.top_right(channel=2):
143 |                 a.on_for_seconds(seconds=0.5, speed=unspeed)
144 |             elif ir.bottom_right(channel=2):
145 |                 a.on_for_seconds(seconds=0.5, speed=speed)
146 |             elif ir.bottom_left(channel=3) or ir.top_left(channel=3):
147 |                 sound.beep()
148 |                 sys.exit(0)
149 |             elif ir.bottom_right(channel=3) or ir.top_right(channel=3):
150 |                 sound.beep()
151 |                 os.system("sudo shutdown now")
152 |         except KeyboardInterrupt:
153 |             break
154 | 
155 | 
156 | main()
157 | 


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