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mindcuber-python.py
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mindcuber-python.py
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#!/usr/bin/env python3
import ev3_dc as ev3
import time
import kociemba
#projeto kociemba https://pypi.org/project/kociemba/
import sys
import os
import subprocess
import rubikscubetracker
#cubestring that the robot will solve
kociembaStr = sys.argv[1]
time.sleep(1)
print("input "+kociembaStr)
print("solve "+kociemba.solve(kociembaStr))
#wait time to put the cube up on the platform
print("Starting in 5")
time.sleep(1)
print("Starting in 4")
time.sleep(1)
print("Starting in 3")
time.sleep(1)
print("Starting in 2")
time.sleep(1)
print("Starting in 1")
time.sleep(1)
ev3device = ev3.EV3(protocol=ev3.USB, host='00:16:53:3D:F8:DF')
rotate = ev3.Motor(ev3.PORT_A, ev3_obj=ev3device) #big motor (arm)
turnn = ev3.Motor(ev3.PORT_B, ev3_obj=ev3device) #big motor (platform)
def wait():
while rotate.busy:
pass
time.sleep(0.1)
def waitT():
while turnn.busy:
pass
time.sleep(0.1)
#holds the upper layers
def hold():
rotate.start_move_to(100, speed=25,brake=True)
wait()
rotate.start_move_to(120, speed=10,brake=True)
wait()
#larga as layers de cima
def release():
rotate.start_move_to(20, speed=35,brake=True)
wait()
rotate.start_move_for(1, speed=5,direction=-1)
wait()
#roda o cubo usando o braco
#"dir" = quantas vezes roda
#"release" = -1 : roda e segura
#"release" = 1 : roda e larga
#"release" = 0 : roda
def rot(dir=1, release=0):
rotate.start_move_to(120, speed=25,brake=True)
wait()
rotate.start_move_to(100, speed=5,brake=True)
wait()
rotate.start_move_to(195, speed=35,brake=True)
wait()
if dir == 1:
if release==0 or release==1:
rotate.start_move_to(20, speed=35, brake=True)
wait()
rotate.start_move_for(1, speed=5,direction=-1)
wait()
else:
rotate.start_move_to(100, speed=35, brake=True)
wait()
rotate.start_move_to(120, speed=10, brake=True)
wait()
if dir == 2:
if release==0 or release==1:
rotate.start_move_to(195, speed=35,brake=True)
wait()
rotate.start_move_to(100, speed=35, brake=True)
wait()
rotate.start_move_to(120, speed=10, brake=True)
wait()
rotate.start_move_to(195, speed=35, brake=True)
wait()
rotate.start_move_to(20, speed=35, brake=True)
wait()
rotate.start_move_for(1, speed=5,direction=-1)
wait()
else:
rotate.start_move_to(100, speed=35, brake=True)
wait()
rotate.start_move_to(120, speed=10, brake=True)
wait()
rotate.start_move_to(195, speed=35, brake=True)
wait()
rotate.start_move_to(100, speed=35, brake=True)
wait()
rotate.start_move_to(120, speed=10, brake=True)
wait()
if dir == 3:
if release==0 or release==1:
rotate.start_move_to(195, speed=35,brake=True)
wait()
rotate.start_move_to(100, speed=35, brake=True)
wait()
rotate.start_move_to(120, speed=10, brake=True)
wait()
rotate.start_move_to(195, speed=35, brake=True)
wait()
rotate.start_move_to(100, speed=35, brake=True)
wait()
rotate.start_move_to(120, speed=10, brake=True)
wait()
rotate.start_move_to(195, speed=35, brake=True)
wait()
rotate.start_move_to(20, speed=35, brake=True)
wait()
rotate.start_move_for(1, speed=5,direction=-1)
wait()
else:
rotate.start_move_to(100, speed=35, brake=True)
wait()
rotate.start_move_to(120, speed=10, brake=True)
wait()
rotate.start_move_to(195, speed=35, brake=True)
wait()
rotate.start_move_to(100, speed=35, brake=True)
wait()
rotate.start_move_to(120, speed=10, brake=True)
wait()
rotate.start_move_to(195, speed=35, brake=True)
wait()
rotate.start_move_to(100, speed=35, brake=True)
wait()
rotate.start_move_to(120, speed=10, brake=True)
wait()
#roda a plataform
#"dir" = 1 ou -1 : sentido ponteiros relogio ou contra relogio
#"times" = quantas vezes roda (rodar 3 vezes é igual a rodar uma vez no sentido contrario)
def turn(dir=1,times=1):
if times==1:
turnn.start_move_by(-310*dir, speed=60,brake=True)
waitT()
turnn.start_move_by(40*dir, speed=60,brake=True)
waitT()
if times==2:
turnn.start_move_by(-580*dir, speed=60,brake=True)
waitT()
turnn.start_move_by(40*dir, speed=60,brake=True)
waitT()
if times==3:
turnn.start_move_by(310*dir, speed=60,brake=True)
waitT()
turnn.start_move_by(-40*dir, speed=60,brake=True)
waitT()
#solve the cube
def solve():
print("-------------------------")
timeItTakes = time.time()
stepCount=1
stepstr=kociemba.solve(kociembaStr)
steps = stepstr.split()
faceDown="D"
hold()
stepIndex=0
for step in steps:
print("Step: "+str(stepCount) +" of "+str(len(steps))+ " - "+ step)
stepCount+=1
if step.endswith("'"):
turnTimes=3
elif step.endswith("2"):
turnTimes=2
else:
turnTimes=1
try:
if faceDown=="D":
if step.startswith("D"):
turn(1, turnTimes)
faceDown="D"
elif step.startswith("U"):
rot(2,-1)
turn(1, turnTimes)
faceDown="U"
elif step.startswith("F"):
rot(1,-1)
turn(1, turnTimes)
faceDown="F"
elif step.startswith("B"):
rot(3,-1)
turn(1, turnTimes)
faceDown="B"
elif step.startswith("R"):
release()
turn(-1,1)
rot(1,-1)
turn(1, turnTimes)
rot(1, 1)
turn(-1,1)
if not (steps[stepIndex+1].startswith("R") or steps[stepIndex+1].startswith("L")):
hold()
faceDown="U"
elif step.startswith("L"):
release()
turn(1,1)
rot(1,-1)
turn(1, turnTimes)
rot(1, 1)
turn(1,1)
if not (steps[stepIndex+1].startswith("R") or steps[stepIndex+1].startswith("L")):
hold()
faceDown="U"
elif faceDown=="U":
if step.startswith("U"):
turn(1, turnTimes)
faceDown="U"
elif step.startswith("D"):
rot(2,-1)
turn(1, turnTimes)
faceDown="D"
elif step.startswith("F"):
rot(3,-1)
turn(1, turnTimes)
faceDown="F"
elif step.startswith("B"):
rot(1,-1)
turn(1, turnTimes)
faceDown="B"
elif step.startswith("R"):
release()
turn(-1,1)
rot(1,-1)
turn(1, turnTimes)
rot(1, 1)
turn(-1,1)
if not (steps[stepIndex+1].startswith("R") or steps[stepIndex+1].startswith("L")):
hold()
faceDown="D"
elif step.startswith("L"):
release()
turn(1,1)
rot(1,-1)
turn(1, turnTimes)
rot(1, 1)
turn(1,1)
if not (steps[stepIndex+1].startswith("R") or steps[stepIndex+1].startswith("L")):
hold()
faceDown="D"
elif faceDown=="F":
if step.startswith("F"):
turn(1, turnTimes)
faceDown="F"
elif step.startswith("B"):
rot(2,-1)
turn(1, turnTimes)
faceDown="B"
elif step.startswith("U"):
rot(1,-1)
turn(1, turnTimes)
faceDown="U"
elif step.startswith("D"):
rot(3,-1)
turn(1, turnTimes)
faceDown="D"
elif step.startswith("R"):
release()
turn(-1,1)
rot(1,-1)
turn(1, turnTimes)
rot(1, 1)
turn(-1,1)
if not (steps[stepIndex+1].startswith("R") or steps[stepIndex+1].startswith("L")):
hold()
faceDown="B"
elif step.startswith("L"):
release()
turn(1,1)
rot(1,-1)
turn(1, turnTimes)
rot(1, 1)
turn(1,1)
if not (steps[stepIndex+1].startswith("R") or steps[stepIndex+1].startswith("L")):
hold()
faceDown="B"
elif faceDown=="B":
if step.startswith("B"):
turn(1, turnTimes)
faceDown="B"
elif step.startswith("F"):
rot(2,-1)
turn(1, turnTimes)
faceDown="F"
elif step.startswith("D"):
rot(1,-1)
turn(1, turnTimes)
faceDown="D"
elif step.startswith("U"):
rot(3,-1)
turn(1, turnTimes)
faceDown="U"
elif step.startswith("R"):
release()
turn(-1,1)
rot(1,-1)
turn(1, turnTimes)
rot(1, 1)
turn(-1,1)
if not (steps[stepIndex+1].startswith("R") or steps[stepIndex+1].startswith("L")):
hold()
faceDown="F"
elif step.startswith("L"):
release()
turn(1,1)
rot(1,-1)
turn(1, turnTimes)
rot(1, 1)
turn(1,1)
if not (steps[stepIndex+1].startswith("R") or steps[stepIndex+1].startswith("L")):
hold()
faceDown="F"
except:
pass
time.sleep(0.1)
stepIndex+=1
seconds = time.time()-timeItTakes
minutes,seconds=divmod(seconds, 60)
if str(seconds)[1]==".":
seconds = "0"+str(seconds)[0]
else:
seconds = str(seconds)[:2]
print("Final time = "+ str(minutes)[0]+ ":"+ str(seconds))
release()
jukebox = ev3.Jukebox(ev3_obj=ev3device)
jukebox.song(ev3.TRIAD, volume=20).start()
jukebox.change_color(ev3.LED_RED_FLASH)
time.sleep(5)
jukebox.change_color(ev3.LED_GREEN)
solve()