bricks/ev3: Add Motor IR Control on apps tab.

Author: laurensvalk

CHANGELOG.md

@@ -8,6 +8,7 @@
 - Added `pybricks.pupdevices.MarioHub` to control it as a peripheral. It
   cannot be used as a standalone device since it cannot ne updated.
 - Added `DriveBase.hold()` method ([support#2621]).
+- Added `Motor Button Control` and `Motor IR Control` on EV3 apps tab.
 
 ### Changed
 - The EV3 Color Sensor now returns `Color.NONE` instead of `None` when no color

bricks/_common/micropython.c

@@ -307,6 +307,7 @@ pbio_error_t pbsys_main_program_validate(pbsys_main_program_t *program) {
             #endif
             #if PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_EV3_APPS
             case PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_BUTTON_CONTROL:
+            case PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_IR_CONTROL:
                 return PBIO_SUCCESS;
             #endif
             default:
@@ -404,6 +405,10 @@ void pbsys_main_run_program(pbsys_main_program_t *program) {
             pb_package_pybricks_init(false);
             pyexec_frozen_module("_ev3_motor_button_control.py", false);
             break;
+        case PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_IR_CONTROL:
+            pb_package_pybricks_init(false);
+            pyexec_frozen_module("_ev3_motor_ir_control.py", false);
+            break;
         #endif
 
         default:

bricks/ev3/manifest.py

@@ -1,3 +1,4 @@
 include("../_common/manifest.py")
 freeze_as_mpy("../ev3/modules", "_ev3_motor_button_control.py")
 freeze_as_mpy("../ev3/modules", "_ev3_motor_dc.py")
+freeze_as_mpy("../ev3/modules", "_ev3_motor_ir_control.py")

bricks/ev3/modules/_ev3_motor_ir_control.py

@@ -0,0 +1,97 @@
+from pybricks.tools import wait
+from pybricks.parameters import ImageFile, Button, Port, Color
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import InfraredSensor
+
+from _ev3_motor_dc import motor_set_dc
+
+# Load assets.
+IMG_POS = ImageFile._ROTATE_CW18
+IMG_NEG = ImageFile._ROTATE_CCW18
+IMG_12 = ImageFile._APP_IR_CONTROL_12
+IMG_34 = ImageFile._APP_IR_CONTROL_34
+
+# Power level for all motors when on.
+POWER = 100
+
+# Load initial UI.
+center_was_pressed = False
+channel_12_active = True
+ev3 = EV3Brick()
+
+
+def draw_ui():
+    ev3.screen.draw_image(0, 20, IMG_12 if channel_12_active else IMG_34)
+
+
+# Wait for sensor to be attached.
+draw_ui()
+sensor = None
+while sensor is None:
+    try:
+        sensor = InfraredSensor(Port.S4)
+        sensor.buttons(1)
+    except OSError:
+        wait(10)
+
+
+# Exit if sensor is unplugged or program ends.
+while True:
+    # Get button state for selected channel pair.
+    channel_x = 1 if channel_12_active else 3
+    channel_y = 2 if channel_12_active else 4
+    pressed_x = sensor.buttons(channel_x)
+    pressed_y = sensor.buttons(channel_y)
+
+    # Use tank drive to set power levels for each motor.
+    power = [
+        POWER
+        if Button.LEFT_UP in pressed_y
+        else -POWER
+        if Button.LEFT_DOWN in pressed_y
+        else 0,
+        POWER
+        if Button.LEFT_UP in pressed_x
+        else -POWER
+        if Button.LEFT_DOWN in pressed_x
+        else 0,
+        POWER
+        if Button.RIGHT_UP in pressed_x
+        else -POWER
+        if Button.RIGHT_DOWN in pressed_x
+        else 0,
+        POWER
+        if Button.RIGHT_UP in pressed_y
+        else -POWER
+        if Button.RIGHT_DOWN in pressed_y
+        else 0,
+    ]
+
+    # Blink if power set, otherwise steady green.
+    if any(power):
+        ev3.light.blink(Color.GREEN, [100, 100, 800, 100])
+    else:
+        ev3.light.on(Color.GREEN)
+
+    # Apply power level to each motor, and draw visual indicator if moving.
+    ev3.screen.draw_box(0, 0, 177, 16, fill=True, color=Color.WHITE)
+    for m in range(len(power)):
+        dc = motor_set_dc(m, power[m])
+        if dc:
+            ev3.screen.draw_image(20 + m * 40, 2, IMG_POS if dc > 0 else IMG_NEG)
+
+    # Keep moving until IR button state changes.
+    while pressed_x == sensor.buttons(channel_x) and pressed_y == sensor.buttons(
+        channel_y
+    ):
+        wait(10)
+
+        # While we wait, monitor center button to change channels.
+        if Button.CENTER not in ev3.buttons.pressed():
+            center_was_pressed = False
+        elif not center_was_pressed:
+            # Pressed now but not before, so toggle channel and restart.
+            center_was_pressed = True
+            channel_12_active = not channel_12_active
+            draw_ui()
+            break

bricks/virtualhub/manifest.py

@@ -1,3 +1,4 @@
 include("../_common/manifest.py")
 freeze_as_mpy("../ev3/modules", "_ev3_motor_button_control.py")
 freeze_as_mpy("../ev3/modules", "_ev3_motor_dc.py")
+freeze_as_mpy("../ev3/modules", "_ev3_motor_ir_control.py")

lib/pbio/include/pbio/protocol.h

@@ -73,6 +73,10 @@ typedef enum {
      * Program to control EV3 motors with the buttons.
      */
     PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_BUTTON_CONTROL = 133,
+    /**
+     * Program to control EV3 motors with infrared remote.
+     */
+    PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_IR_CONTROL = 134,
 } pbio_pybricks_user_program_id_t;
 
 /**

lib/pbio/src/image/media/lms2012/_app_ir_control_12.bmp

@@ -85,6 +85,7 @@ static pbsys_hmi_ev3_ui_t state;
  */
 static const char *apps[] = {
     " Motor Button Control",
+    " Motor IR Control",
 };
 
 /**
@@ -283,6 +284,9 @@ pbsys_hmi_ev3_ui_action_t pbsys_hmi_ev3_ui_handle_button(pbio_button_flags_t but
                 case 0:
                     *payload = PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_BUTTON_CONTROL;
                     return PBSYS_HMI_EV3_UI_ACTION_RUN_PROGRAM;
+                case 1:
+                    *payload = PBIO_PYBRICKS_USER_PROGRAM_ID_EV3_MOTOR_IR_CONTROL;
+                    return PBSYS_HMI_EV3_UI_ACTION_RUN_PROGRAM;
                 default:
                     // Other apps not yet implemented.
                     state.overlay = PBSYS_HMI_EV3_UI_OVERLAY_COMING_SOON;