Track3r
Python code and building instructions for the LEGO MINDSTORMS EV3 Main models (31313).
TRACK3R is a crawler-mounted, all-terrain robot with four interchangeable tools. Start by building the body of the robot, then discover the possibilities of the four different TRACK3R tools: the bi-blade blender, the blasting bazooka, the gripping claw, and the hammer.
These programs require LEGO® EV3 MicroPython v2.0 downloadable at https://education.lego.com/en-us/support/mindstorms-ev3/python-for-ev3.
There are 4 Track3r variants with 4 different tools:
- Track3r with Bi-blade Spinner
- Track3r with Blasting Bazooka
- Track3r with Gripping Claw
- Track3r with Heavy Hammer
The code for the base Track3r class is in track3r_base.py as follows:
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.parameters import Direction, Port
from pybricks.tools import wait
from rc_tank_util import RemoteControlledTank
class Track3r(RemoteControlledTank):
WHEEL_DIAMETER = 26 # milimeters
AXLE_TRACK = 140 # milimeters
def __init__(
self,
left_track_motor_port: Port = Port.B,
right_track_motor_port: Port = Port.C,
medium_motor_port: Port = Port.A,
ir_sensor_port: Port = Port.S4,
ir_beacon_channel: int = 1):
super().__init__(
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK,
left_motor_port=left_track_motor_port,
right_motor_port=right_track_motor_port,
ir_sensor_port=ir_sensor_port,
ir_beacon_channel=ir_beacon_channel)
self.ev3_brick = EV3Brick()
self.medium_motor = Motor(port=medium_motor_port,
positive_direction=Direction.CLOCKWISE)
def main(self, speed: float = 1000):
"""
Driving Track3r around by the IR beacon
"""
while True:
self.drive_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3r()
TRACK3R.main(speed=1000)
Track3r uses a remote-controlled tank driving utility whose code is in rc_tank_util.py as follows:
from pybricks.ev3devices import Motor, InfraredSensor
from pybricks.robotics import DriveBase
from pybricks.parameters import Button, Direction, Port
class RemoteControlledTank:
"""
This reusable mixin provides the capability of driving a robot
with a Driving Base by the IR beacon
"""
def __init__(
self,
wheel_diameter: float, axle_track: float, # both in milimeters
left_motor_port: Port = Port.B, right_motor_port: Port = Port.C,
ir_sensor_port: Port = Port.S4, ir_beacon_channel: int = 1):
self.drive_base = \
DriveBase(
left_motor=Motor(port=left_motor_port,
positive_direction=Direction.CLOCKWISE),
right_motor=Motor(port=right_motor_port,
positive_direction=Direction.CLOCKWISE),
wheel_diameter=wheel_diameter,
axle_track=axle_track)
self.ir_sensor = InfraredSensor(port=ir_sensor_port)
self.ir_beacon_channel = ir_beacon_channel
def drive_by_ir_beacon(
self,
speed: float = 1000, # mm/s
turn_rate: float = 90 # rotational speed deg/s
):
ir_beacon_button_pressed = \
set(self.ir_sensor.buttons(channel=self.ir_beacon_channel))
# forward
if ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=0)
# backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN, Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=0)
# turn left on the spot
elif ir_beacon_button_pressed == {Button.LEFT_UP, Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=0,
turn_rate=-turn_rate)
# turn right on the spot
elif ir_beacon_button_pressed == {Button.RIGHT_UP, Button.LEFT_DOWN}:
self.drive_base.drive(
speed=0,
turn_rate=turn_rate)
# turn left forward
elif ir_beacon_button_pressed == {Button.LEFT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=-turn_rate)
# turn right forward
elif ir_beacon_button_pressed == {Button.RIGHT_UP}:
self.drive_base.drive(
speed=speed,
turn_rate=turn_rate)
# turn left backward
elif ir_beacon_button_pressed == {Button.LEFT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=turn_rate)
# turn right backward
elif ir_beacon_button_pressed == {Button.RIGHT_DOWN}:
self.drive_base.drive(
speed=-speed,
turn_rate=-turn_rate)
# otherwise stop
else:
self.drive_base.stop()
The code for the Track3rWithBiBladeSpinner is in track3r_with_biblade_spinner.py as follows:
#!/usr/bin/env pybricks-micropython
from pybricks.parameters import Button
from pybricks.tools import wait
from track3r_base import Track3r
class Track3rWithBiBladeSpinner(Track3r):
"""
Track3r spins its blade when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #5)
"""
def spin_blade_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.medium_motor.run(speed=speed)
else:
self.medium_motor.stop()
def main(self, speed: float = 1000):
while True:
self.drive_by_ir_beacon(speed=speed)
self.spin_blade_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3rWithBiBladeSpinner()
TRACK3R.main(speed=1000)
The code for the Track3rWithBlastingBazooka is in track3r_with_blasting_bazooka.py as follows:
#!/usr/bin/env pybricks-micropython
from pybricks.media.ev3dev import ImageFile, SoundFile
from pybricks.parameters import Button, Stop
from pybricks.tools import wait
from track3r_base import Track3r
class Track3rWithBlastingBazooka(Track3r):
"""
Track3r blasts his bazooka when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #2)
"""
def blast_bazooka_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.medium_motor.run_angle(
speed=speed,
rotation_angle=3 * 360, # about 3 rotations for 1 shot
then=Stop.HOLD,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_1)
while Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def main(self, speed: float = 1000):
self.ev3_brick.screen.load_image(ImageFile.PINCHED_MIDDLE)
while True:
self.drive_by_ir_beacon(speed=speed)
self.blast_bazooka_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3rWithBlastingBazooka()
TRACK3R.main(speed=1000)
The code for the Track3rWithGrippingClaw is in track3r_with_gripping_claw.py as follows:
#!/usr/bin/env pybricks-micropython
from pybricks.media.ev3dev import SoundFile
from pybricks.parameters import Button
from pybricks.tools import wait
from track3r_base import Track3r
class Track3rWithGrippingClaw(Track3r):
"""
Track3r grips or releases its claw when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #3)
"""
is_gripping = False
def grip_or_release_claw_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
if self.is_gripping:
self.medium_motor.run(speed=-speed)
self.ev3_brick.speaker.play_file(file=SoundFile.AIR_RELEASE)
self.is_gripping = False
else:
self.medium_motor.run(speed=speed)
self.ev3_brick.speaker.play_file(file=SoundFile.AIRBRAKE)
self.is_gripping = True
while Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
pass
def main(self, speed: float = 1000):
while True:
self.drive_by_ir_beacon(speed=speed)
self.grip_or_release_claw_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3rWithGrippingClaw()
TRACK3R.main(speed=1000)
The code for the Track3rWithHeavyHammer is in track3r_with_heavy_hammer.py as follows:
#!/usr/bin/env pybricks-micropython
from pybricks.media.ev3dev import ImageFile, SoundFile
from pybricks.parameters import Button, Stop
from pybricks.tools import wait
from track3r_base import Track3r
class Track3rWithHeavyHammer(Track3r):
"""
Track3r hammers down when the Beacon button is pressed
(inspiration from LEGO Mindstorms EV3 Home Edition: Track3r: Tutorial #4)
"""
def hammer_by_ir_beacon(self, speed: float = 1000):
if Button.BEACON in \
self.ir_sensor.buttons(channel=self.ir_beacon_channel):
self.ev3_brick.screen.load_image(ImageFile.ANGRY)
self.medium_motor.run_time(
speed=speed,
time=1000,
then=Stop.COAST,
wait=True)
self.ev3_brick.speaker.play_file(file=SoundFile.LAUGHING_2)
self.medium_motor.run_time(
speed=-speed,
time=1000,
then=Stop.COAST,
wait=True)
def main(self, speed: float = 1000):
self.medium_motor.run_time(
speed=-200,
time=1000,
then=Stop.COAST,
wait=True)
while True:
self.drive_by_ir_beacon(speed=speed)
self.hammer_by_ir_beacon(speed=speed)
wait(1)
if __name__ == '__main__':
TRACK3R = Track3rWithHeavyHammer()
TRACK3R.main(speed=1000)
This project was submitted by The Lương-Phạm Family.