Blast

 Building instructions  Python code  Improve project

Image credit: LEGO

This master robot is a stoic action hero. It can fire or hammer its way through obstacles and grab items. Builders can be the ultimate commanders, programming it to scan its environment and fire darts if it senses danger. Perfect for guarding your room!

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Program

The playing instructions for each robot variant are in the docstrings of the corresponding file.

The code for Blast’s basic dance is in blast-basic.py as follows:

"""
This program is for Blast's basic warm-up actions. 

Follow the corresponding building instructions in the LEGO® MINDSTORMS®
Robot Inventor App.
"""

from pybricks.hubs import InventorHub
from pybricks.pupdevices import Motor, ColorSensor, UltrasonicSensor
from pybricks.parameters import Color, Direction, Port, Side, Stop
from pybricks.robotics import DriveBase
from pybricks.tools import wait


class Blast:
    WHEEL_DIAMETER = 44
    AXLE_TRACK = 100

    def __init__(self):
        self.hub = InventorHub()

        # Configure the drive base
        self.left_motor = Motor(Port.C, Direction.COUNTERCLOCKWISE)
        self.right_motor = Motor(Port.A)
        self.drive_base = DriveBase(self.left_motor,
                                    self.right_motor,
                                    wheel_diameter=self.WHEEL_DIAMETER,
                                    axle_track=self.AXLE_TRACK)

        # Configure other motors and sensors
        self.arm_movement_motor = Motor(Port.D)
        self.action_motor = Motor(Port.B)
        self.color_sensor = ColorSensor(Port.E)
        self.distance_sensor = UltrasonicSensor(Port.F)

    def activate_display(self):
        self.hub.display.orientation(up=Side.RIGHT)

        for _ in range(10):
            self.hub.display.image(
                image=[[00, 11, 33, 11, 00],
                       [11, 33, 66, 33, 11],
                       [33, 66, 99, 66, 33],
                       [11, 33, 66, 33, 11],
                       [00, 11, 33, 11, 00]])

            self.hub.light.on(color=Color.RED)

            wait(100)

            self.hub.display.off()
            self.hub.light.off()

            wait(100)

    def calibrate_arms(self):
        self.arm_movement_motor.run_until_stalled(
            speed=1000,
            then=Stop.HOLD)

        for _ in range(10):
            self.distance_sensor.lights.on(100)
            wait(100)
            self.distance_sensor.lights.off()
            wait(100)

        self.arm_movement_motor.run_angle(
            speed=1000,
            rotation_angle=-850,
            then=Stop.HOLD,
            wait=True)


# Initialize Blast
blast = Blast()

# Activate his display and calibrate his arms
blast.activate_display()
blast.calibrate_arms()

# Blast exercises his arms
blast.arm_movement_motor.run_angle(
    speed=1000,
    rotation_angle=800,
    then=Stop.HOLD,
    wait=True)
blast.arm_movement_motor.run_angle(
    speed=1000,
    rotation_angle=-800,
    then=Stop.HOLD,
    wait=True)

# Blast dances around with his wheels
blast.left_motor.run_angle(
    speed=1000,
    rotation_angle=1500,
    then=Stop.COAST,
    wait=True)
blast.right_motor.run_angle(
    speed=1000,
    rotation_angle=1500,
    then=Stop.COAST,
    wait=True)

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This project was submitted by The Lương-Phạm Family.