Programming in Python
Engineering Projects
honors engr162 project 3: location and resource identification system
The location and resource identification system (LARIS) prototype was developed for Harris Corporation, and was a robot capable of many tasks. The robot was run through a RaspberryPi written in Python, in which the robot navigated and mapped a danger zone using various sensors made available. The robot also had to identify resources and whether they were dangerous or safe – demonstrated in the code below.
while True: try: distance = grovepi.ultrasonicRead(ultrasonic_ranger) MRI = BP.get_sensor(BP.PORT_3)[0] if abs(MRI - calibrateMRI) > 15: #if there is a significant change in the magnetic field rF.avoid() path.append('MRI') if distance <= 10: #if there is an object/resource directly in front of the robot value = rF.scanData() if (value > 2700 and value < 2900): #light sensor to determine if it's a resource path.append('nonhazardous waste') mass = rF.pickUp() elif (value > 1800 and value < 2000): path.append('biohazard') mass = rF.pickUp() BP.set_motor_dps(BP.PORT_B,90) #if it's just a wall time.sleep(1) BP.set_motor_dps(BP.PORT_B,0) time.sleep(.1) leftDistance = grovepi.ultrasonicRead(ultrasonic_ranger) BP.set_motor_dps(BP.PORT_B,-180) time.sleep(1) BP.set_motor_dps(BP.PORT_B,0) time.sleep(.1) rightDistance = grovepi.ultrasonicRead(ultrasonic_ranger) current = BP.get_motor_encoder(BP.PORT_B) while current < initial: #resets motor to the very front position BP.set_motor_dps(BP.PORT_B,90) time.sleep(.01) current = BP.get_motor_encoder(BP.PORT_B) BP.set_motor_dps(BP.PORT_B,0) if rightDistance > leftDistance: rF.right90Turn() path.append('right') elif leftDistance > 10: rF.left90Turn() path.append('left') else: #if there's a dead end rF.left180()
honors engr161 project 3: mars cargo mobility system
The mars cargo mobility system (MCMS) prototype was developed for Harris Corporation, and was an autonomous robot capable of many tasks. The robot was run through a RaspberryPi written in Python, in which the robot was able to scale Mars' terrain and deliver cargo, while using precise navigation and maintaining energy usage.
The following code demonstrates the robot's ability to decide whether or not to deliver the cargo. The robot tested for a specific magnet reading to determine whether a cargo piece was to be deployed at that time.
if MagNum == 3:
time.sleep(2)
MagNum = MagNum + 1
elapsed_time = 0
start_time = time.time()
elapsed_time = time.time() - start_time
if flag == 1: # originally was an if statement, not a while loop
#elapsed_time = time.time() - start_time
BP.set_motor_power(BP.PORT_D,10)
print('drop off cargo now')
while elapsed_time < 2.8:
BP.set_motor_power(BP.PORT_B,0)
BP.set_motor_power(BP.PORT_C,0)
try:
elapsed_time = time.time() - start_time
BP.set_motor_power(BP.PORT_A, 17)
BP.set_motor_power(BP.PORT_D, 17)
time.sleep(0.1)
except KeyboardInterrupt: #if there's a KeyboardInterrupt it will print 'You pressed ctrl+C...'
print("You pressed ctrl+C...")
BP.set_motor_power(BP.PORT_A,0)
BP.set_motor_power(BP.PORT_D,0)
while (elapsed_time < 4.8) and (elapsed_time > 2.8):
try:
elapsed_time = time.time() - start_time
print(elapsed_time)
BP.set_motor_power(BP.PORT_A, -15)
BP.set_motor_power(BP.PORT_D, -14)
time.sleep(0.1)
except KeyboardInterrupt: #if there's a KeyboardInterrupt it will print 'You pressed ctrl+C...'
print("You pressed ctrl+C...")
break
In addition, our team's robot was capable of following a black line using the code developed below. This code utilized previously tested sensor values to detect color changes.
if value < 2330 and color != 1: #both are white so go straight BP.set_motor_power(BP.PORT_B,speed) BP.set_motor_power(BP.PORT_C,speed) elif value >= 2330 and color != 1: #turn right: nxt light sensor sees black t_end = time.time() + .4 while time.time() < t_end: BP.set_motor_power(BP.PORT_B + BP.PORT_C,-speed) BP.set_motor_power(BP.PORT_B,speed+20) BP.set_motor_power(BP.PORT_C,-speed/6) elif value < 2330 and color == 1: # turn left t_end = time.time() + .4 while time.time() < t_end: BP.set_motor_power(BP.PORT_B + BP.PORT_C,-speed) BP.set_motor_power(BP.PORT_B,-speed/6) BP.set_motor_power(BP.PORT_C,speed+20) else: # something is wrong if this occurs t_end = time.time() + .4 while time.time() < t_end: BP.set_motor_power(BP.PORT_B,speed+20) BP.set_motor_power(BP.PORT_C,-speed/6) print() print('WHOA') print()
Engineering Homework
ENGR 162 HW #11 – also done in matlab
The problem asked to import and separate 8 sets of addresses from an input file. Then, it will clean the data by removing blocks of zeroes into a simplified form of the data, which will be outputted into a separate data file, output.txt. The following code shows the final process in order to add the simplified data into a new file.
while j < len(ipAddress): currentAddress = ipAddress[j] # Split the current address by colon # Generate a new array with the split elements of the address splitArray = currentAddress.split(':') # Initialize increment index = 0 while index < len(splitArray): # Go through each element of the split array and remove trailing # zeroes and make the letters lowercase currentString = splitArray[index] leadZero = currentString.lstrip('0') finalAddress = leadZero.lower() # Replace the current string in the array with the converted string splitArray[index] = finalAddress # Increment inner while loop index = index + 1 # Create the new address fullString = ':'.join(splitArray) # Delete leading space from the string finalString = fullString.lstrip() # Write the new address to the new file fileout.write('{:s}'.format(finalString)) # Increment outer while loop j = j + 1
ENGR 161 HW #3
The problem asked to determine which station a given coordinate point is closest to. The values of the stations were already given.
from math import sqrt stat1x = 25 stat1y = 75 stat2x = 75 stat2y = 75 stat3x = 75 stat3y = 25 stat4x = 25 stat4y = 25 stat5x = 50 stat5y = 50 ##create a function that calculates the distance between the given & station def calcDist(x,y): distance = sqrt(((int(x[0]) - int(xcoord))**2) + (int(y[0]) - int(ycoord))**2) return(distance) ## ask the user to input two coordinates xcoord = input("Please type the x-coordinate: ") ycoord = input("Please type the y-coordinate: ") #make the coordinates given into an array to be able to refer to it as a whole userInput = [xcoord, ycoord] ##calculate the distance of the given from each station using the function station1 = sqrt(((25 - int(xcoord))**2) + (75 - int(ycoord))**2) station2 = sqrt(((75 - int(xcoord))**2) + (75 - int(ycoord))**2) station3 = sqrt(((75 - int(xcoord))**2) + (25 - int(ycoord))**2) station4 = sqrt(((25 - int(xcoord))**2) + (25 - int(ycoord))**2) station5 = sqrt(((50 - int(xcoord))**2) + (50 - int(ycoord))**2) ##calculate which station is the closest by using the min() function closestDist = min(station1, station2, station3, station4, station5) if closestDist == station1: closestStation = "Station 1" #update the variable by adding a large number so that it cannot be reconsidered station1 = station1 + 10000 elif closestDist == station2: closestStation = "Station 2" station2 = station2 + 10000 elif closestDist == station3: closestStation = "Station 3" station3 = station3 + 10000 elif closestDist == station4: closestStation = "Station 4" station4 = station4 + 10000 elif closestDist == station5: closestStation = "Station 5" station5 = station5 + 10000 secondClosestDist = min(station1, station2, station3, station4, station5) if secondClosestDist == station1: secondClosestStation = "Station 1" elif secondClosestDist == station2: secondClosestStation = "Station 2" elif secondClosestDist == station3: secondClosestStation = "Station 3" elif secondClosestDist == station4: secondClosestStation = "Station 4" elif secondClosestDist == station5: secondClosestStation = "Station 5" print("The closes station to the given point is" , closestStation , "and the second closest station to the given point is" , secondClosestStation)