MidTerm Exercise

Python Programming with GoPiGo

 Your program will make your robot dance"  – random actions.
 Ask the user to decide what movements the robot should make next.  The following letters perform specific actions – allow them to use all actions.  You need to be sure to ask them again if they use the wrong letter.
w = forward

a = turn left

d  = turn right

s = move back

x = stop

 t= increase speed

g = decrease speed

z = exit using sys module

 Allow the user to turn on the LED’s
Use the following modules or others, if you choose.

#!/usr/bin/env python3

from gopigo import *

import sys

import time

import random







Requirements = 60 pts

Minimum of three functions – main needs to be one of them.

Use of if/elif/else

Correct use of loops/where necessary

Comment sections of code

DocString

Correct use of syntax/no errors



Motor control functions:
fwd(): Move the GoPiGo forward with PID (better control)
motor_fwd(): Move the GoPiGo forward without PID
bwd(): Move the GoPiGo back with PID (better control)
motor_bwd(): Move the GoPiGo back without PID
left(): Turn GoPiGo Left slow (one motor off, better control)
left_rot(): Rotate GoPiGo left in same position (both motors moving in the opposite direction)
right(): Turn GoPiGo right slow (one motor off, better control)
right_rot(): Rotate GoPiGo right in same position both motors moving in the opposite direction)
stop(): Stop the GoPiGo
Motor speed Functions:

increase_speed(): Increase the speed of the GoPiGo by 10
decrease_speed(): Decrease the speed of the GoPiGo by 10
set_left_speed(): Set speed of the left motor
set_right_speed(): Set speed of the right motor
set_speed(): Set speeds of both the motors
Encoder Functions:

enc_tgt(): Set encoder target to move the GoPiGo to a set distance
enable_encoders(): Enable the encoders
disable_encoders(): Disable the encoders
Ultrasonic ranger read:

us_dist(): Read distance from the ultrasonic sensor
LED control:

led_on(): Turn LED on
led_off(): Turn LED off
Servo control:

enable_servo(): Enables the servo
disable_servo(): Disables the servo
servo(): Set servo position
Status from the GoPiGo:

volt(): Read battery voltage in V
fw_ver(): Get the firmware version of the GoPiGo
enable_com_timeout(): Enable communication time-out(stop the motors if no command received in the specified time-out)
disable_com_timeout(): Disable communication time-out
read_status(): Read the status register on the GoPiGo
read_enc_status(): Read encoder status
read_timeout_status(): Read timeout status