Tricky

 Building instructions  Python code  Improve project

Image credit: LEGO

The sporty bot is the ultimate athlete. Code it to complete the perfect slam dunk or master a plethora of robot sports: basketball, bowling or soccer – the list goes on and on.

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Programs

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

The code for Tricky’s basic dance is in tricky-basic.py as follows:

"""
This program is for Tricky's Intro dance.

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

Trigger Tricky to dance by placing something near its Distance Sensor.
"""

from pybricks.pupdevices import Motor, UltrasonicSensor
from pybricks.parameters import Direction, Port
from pybricks.robotics import DriveBase
from pybricks.tools import wait


# Configure the Drive Base and the Distance Sensor.
drive_base = DriveBase(left_motor=Motor(Port.A, Direction.COUNTERCLOCKWISE),
                       right_motor=Motor(Port.B),
                       wheel_diameter=44,
                       axle_track=88)

distance_sensor = UltrasonicSensor(Port.D)


# Turn the Distance Sensor lights off and on.
distance_sensor.lights.off()
wait(1000)
distance_sensor.lights.on(100)

# Tricky begins dancing/turning whenever the Distance Sensor detects
# something closer than 10 cm (100 mm).
while True:
    if distance_sensor.distance() < 100:
        drive_base.turn(360)
        drive_base.turn(-360)
    wait(10)

The code for Tricky Playing Soccer is in tricky-playing-soccer.py as follows:

"""
This program is for Tricky's "Soccer: Penalty Kick" activity.

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

For each penalty kick practice round, place Tricky in front of
the red ball and the goal, then trigger the run-up and the kick
by placing something near the Distance Sensor behind Tricky.
"""

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


class TrickyPlayingSoccer:

    WHEEL_DIAMETER = 44
    AXLE_TRACK = 88
    KICK_SPEED = 1000

    def __init__(self):
        # Configure the hub, the kicker motor, and the sensors.
        self.hub = InventorHub()
        self.kicker_motor = Motor(Port.C)
        self.distance_sensor = UltrasonicSensor(Port.D)
        self.color_sensor = ColorSensor(Port.E)

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

        # Prepare tricky to start kicking!
        self.distance_sensor.lights.off()
        self.reset_kicker_motor()
        self.distance_sensor.lights.on(100)

    def reset_kicker_motor(self):
        # Prepare the kicker motor for kicking.
        self.hub.light.off()
        self.kicker_motor.run_until_stalled(-self.KICK_SPEED, Stop.HOLD)
        self.kicker_motor.run_angle(self.KICK_SPEED, 325)

    def kick(self):
        # Kick the ball!
        self.kicker_motor.track_target(360)

    def run_to_and_kick_ball(self):
        # Drive until we see the red ball.
        self.drive_base.drive(speed=1000, turn_rate=0)
        while self.color_sensor.color() != Color.RED:
            wait(10)
        self.hub.light.on(Color.RED)
        self.hub.speaker.beep(frequency=100, duration=100)
        self.kick()
        self.drive_base.stop()
        self.hub.light.off()

    def celebrate(self):
        # Celebrate with light and sound.
        self.hub.display.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.speaker.beep(frequency=1000, duration=1000)
        self.hub.light.animate(
            [Color.CYAN, Color.GREEN, Color.MAGENTA],
            interval=100)

        # Celebrate by dancing around.
        self.drive_base.drive(speed=0, turn_rate=360)
        self.kicker_motor.run_angle(self.KICK_SPEED, 5 * 360)

        # Party's over! Let's stop everything.
        self.hub.display.off()
        self.hub.light.off()
        self.drive_base.stop()


# Initialize tricky.
tricky = TrickyPlayingSoccer()

# Keep practicing penalty kicks.
while True:
    # Wait until the player puts an object near the Distance Sensor
    # to trigger Tricky. Then start running towards the ball and the goal.
    if tricky.distance_sensor.distance() < 100:
        tricky.run_to_and_kick_ball()
        tricky.celebrate()
    wait(10)

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This project was submitted by The Lương-Phạm Family.