Proyecto I 2022 » Grupo 6 A 2022

*Índice:* 

* [[Introducción]]

* [[Organización y planificación]]

* [[Análisis y diseño]]

* [[Código e implementación]]

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h1. Código e implementación

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{{collapse(Interfaz gráfica (GUI))

}}

{{collapse(Servidor)

<pre><code class="python">

import socket

from Function import *

s = socket.socket()

print("Socket creado")

port = 19999

s.bind( ("", port) )

print("El socket se creo con puerto:{}".format(port))

s.listen(5)

print("EL socket is listening....")

connect, addr = s.accept()

print("Se conecto a {}".format(addr))

while True:

    rawByte = connect.recv(1)

    char = rawByte.decode('utf-8')

    if (char == 'w'):

        moveUp()

    if (char == 's'):

        moveDown()

    if (char == 'd'):

        moveRight()

    if (char == 'a'):

        moveLeft()

    if (char == 'p'):

        Disparar()

    if (char == 'f'):

        Luciano()  

    if (char == 'i'):

        Inclinacion45()

    if (char == 'o'):

        Inclinacion0()

    if (char == ' '):

        Stop()

    if (char == 'm'):

        Distancia()

    if (char == 'l'):

        StopCannon()

</code></pre>

}}

{{collapse(Movimientos del robot)

<pre><code class="python">

#!/usr/bin/env python3

from ev3dev2.motor import LargeMotor, MediumMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D, SpeedPercent, MoveTank

from ev3dev2.sensor import INPUT_1

from ev3dev2.sensor .lego import UltrasonicSensor

from ev3dev2.sound import Sound

from ev3dev2.led import Leds

motor_angle= LargeMotor(OUTPUT_A)

cannon = MediumMotor(OUTPUT_D)

sonido = Sound()

sensor = UltrasonicSensor(INPUT_1)

sensor.mode = "US-DIST-CM"

tankmoves = MoveTank(OUTPUT_B,OUTPUT_C)

print(sensor.value()/10)

def moveUp():

    print("Moving up...")

    tankmoves.on(SpeedPercent(100),SpeedPercent(100))

def moveDown():

    print("Moving down...")

    tankmoves.on(SpeedPercent(-100),SpeedPercent(-100))

def moveRight():

    print("Moving right...")

    tankmoves.on(SpeedPercent(100),SpeedPercent(-100))

def moveLeft():

    print("Moving left...")

    tankmoves.on(SpeedPercent(-100),SpeedPercent(100))

def Inclinacion0():

    motor_angle.on_for_degrees(7,55,brake=True)

def Inclinacion45():

    motor_angle.on_for_degrees(7,-55,brake=True)

def Disparar():    

    cannon.on(SpeedPercent(-100))

def Apuntar():

    sensor.value #valor del sensor en milimetro

def Luciano():

    sonido.speak("gorila tank mak two")

def Distancia():

    while(sensor.value()/10 <= 100 or sensor.value()/10 >= 110):

        print(sensor.value()/10)

        if(sensor.value()/10 < 100):

            tankmoves.on(SpeedPercent(-40),SpeedPercent(-40))

        else:

            tankmoves.on(SpeedPercent(40),SpeedPercent(40))

    Stop()

def Stop():

    tankmoves.stop()

def StopCannon():

    cannon.stop()

    sonido.play_file("misioncumplida.wav",100,1)

</code></pre>

}}