Nearly all functions of the NXT brick can be controlled using NXT Python. However, because utilising all functions is complex, the facade class will only focus on those functions we want to use. The main functions of the NXT are:
There is little meaning to putting all of these functions into the facade class. When another function is necessary, the facade can be extended to include it. In keeping with this, the facade described here will supply the functions necessary for the robot we will control.
#!/usr/bin/env python
# @file NXTBrick.py
# -*- coding:shift_jis -*-
import nxt.locator
from nxt.sensor import *
from nxt.motor import *
class NXTBrick:
def __init__(self, bsock=None):
"""
Constructor
Connect to a NXT brick, control motors and sensors, and reset odometry.
"""
if bsock:
self.sock = bsock
else:
self.sock = nxt.locator.find_one_brick().connect()
self.motors = [Motor(self.sock, PORT_A),
Motor(self.sock, PORT_B),
Motor(self.sock, PORT_C)]
self.sensors = [TouchSensor(self.sock, PORT_1),
SoundSensor(self.sock, PORT_2),
LightSensor(self.sock, PORT_3),
UltrasonicSensor(self.sock, PORT_4)]
self.resetPosition()
def close(self):
"""
Close the connection to the NXT.
"""
self.sock.close()
def resetPosition(self, relative = 0):
"""
Reset the NXT motor encoders.
"""
for m in self.motors:
m.reset_position(relative)
def setMotors(self, vels):
"""
Receive an array, set the motor power levels.
If the length of vels is not equal to the number of motors,
the smaller of the two values is used.
"""
for i, v in enumerate(vels[:min(len(vels),len(self.motors))]):
self.motors[i].power = max(min(v,127),-127)
self.motors[i].mode = MODE_MOTOR_ON | MODE_REGULATED
self.motors[i].regulation_mode = REGULATION_MOTOR_SYNC
self.motors[i].run_state = RUN_STATE_RUNNING
self.motors[i].tacho_limit = 0
self.motors[i].set_output_state()
def getMotors(self):
"""
Read the motor encoder angles.
"""
state = []
for m in self.motors:
state.append(m.get_output_state())
return state
def getSensors(self):
"""
Read the sensor values, return them in an array.
"""
state = []
for s in self.sensors:
state.append(s.get_sample())
return state
"""
Test program
Set a suitable motor value, read their encoders.
Read sensor values and display them.
"""
if __name__ == "__main__":
import time
nxt = NXTBrick()
print "connected"
# Motor test
for i in range(100):
nxt.setMotors([80,-80,80])
print "Motor: "
mstat = nxt.getMotors()
for i, m in enumerate(mstat):
print "(" , i, "): ", m
time.sleep(0.1)
nxt.setMotors([0,0,0])
# Sensor test
for i in range(100):
sensors = ["Touch", "Sound", "Light", "USonic"]
sval = nxt.getSensors()
for s in sensors:
print s + ": " + sval
print ""
time.speel(0.1)
The final section from if name == "main": is a test program. When this module is executed independently, the test will run. The module should be tested and corrected until it passes the test succesfully.
The above NXT facade class is very simple, only setting motor values, reading the encoders and reading the sensors. Trying to do everything from the start leads to a class whose purpose is difficult to understand. The class can be extended at any time, so begin with something simple that works as it should.
NXT Python Facade Class
Nearly all functions of the NXT brick can be controlled using NXT Python. However, because utilising all functions is complex, the facade class will only focus on those functions we want to use. The main functions of the NXT are:
There is little meaning to putting all of these functions into the facade class. When another function is necessary, the facade can be extended to include it. In keeping with this, the facade described here will supply the functions necessary for the robot we will control.
A class made along these lines is shown below.
#!/usr/bin/env python # @file NXTBrick.py # -*- coding:shift_jis -*- import nxt.locator from nxt.sensor import * from nxt.motor import * class NXTBrick: def __init__(self, bsock=None): """ Constructor Connect to a NXT brick, control motors and sensors, and reset odometry. """ if bsock: self.sock = bsock else: self.sock = nxt.locator.find_one_brick().connect() self.motors = [Motor(self.sock, PORT_A), Motor(self.sock, PORT_B), Motor(self.sock, PORT_C)] self.sensors = [TouchSensor(self.sock, PORT_1), SoundSensor(self.sock, PORT_2), LightSensor(self.sock, PORT_3), UltrasonicSensor(self.sock, PORT_4)] self.resetPosition() def close(self): """ Close the connection to the NXT. """ self.sock.close() def resetPosition(self, relative = 0): """ Reset the NXT motor encoders. """ for m in self.motors: m.reset_position(relative) def setMotors(self, vels): """ Receive an array, set the motor power levels. If the length of vels is not equal to the number of motors, the smaller of the two values is used. """ for i, v in enumerate(vels[:min(len(vels),len(self.motors))]): self.motors[i].power = max(min(v,127),-127) self.motors[i].mode = MODE_MOTOR_ON | MODE_REGULATED self.motors[i].regulation_mode = REGULATION_MOTOR_SYNC self.motors[i].run_state = RUN_STATE_RUNNING self.motors[i].tacho_limit = 0 self.motors[i].set_output_state() def getMotors(self): """ Read the motor encoder angles. """ state = [] for m in self.motors: state.append(m.get_output_state()) return state def getSensors(self): """ Read the sensor values, return them in an array. """ state = [] for s in self.sensors: state.append(s.get_sample()) return state """ Test program Set a suitable motor value, read their encoders. Read sensor values and display them. """ if __name__ == "__main__": import time nxt = NXTBrick() print "connected" # Motor test for i in range(100): nxt.setMotors([80,-80,80]) print "Motor: " mstat = nxt.getMotors() for i, m in enumerate(mstat): print "(" , i, "): ", m time.sleep(0.1) nxt.setMotors([0,0,0]) # Sensor test for i in range(100): sensors = ["Touch", "Sound", "Light", "USonic"] sval = nxt.getSensors() for s in sensors: print s + ": " + sval print "" time.speel(0.1)The final section from if name == "main": is a test program. When this module is executed independently, the test will run. The module should be tested and corrected until it passes the test succesfully.
The above NXT facade class is very simple, only setting motor values, reading the encoders and reading the sensors. Trying to do everything from the start leads to a class whose purpose is difficult to understand. The class can be extended at any time, so begin with something simple that works as it should.