EV3 範例：神攝手

#!/usr/bin/env pybricks-micropython
# 神攝手 × EV3 範例 1：跟著色塊轉
# SharpShot × EV3 example 1: turn to follow a colour blob
# 需要把相機選單切到 相機模式 1 顏色追蹤 ・子選項 ③ 標準（XY＋面積）＝模式編號 13
# Camera menu: camera mode 1 Colour tracking, option 3 Standard (XY + area) = mode number 13
# 軟體 Software：Pybricks v4（code.pybricks.com）或 樂高官方 EV3 MicroPython v2（同一支程式都能跑）
# 準備：先在相機上教「目標 1」的顏色 / teach "target 1" on the camera first
# 接線 Wiring：相機 → 1 號孔 / camera → port 1；左輪 B、右輪 C / left wheel B, right wheel C
# 同一個資料夾要有 MBC_UniCam_EV3.py / put MBC_UniCam_EV3.py in the same folder
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.parameters import Port
from pybricks.robotics import DriveBase
from pybricks.tools import wait
from MBC_UniCam_EV3 import UniCam

ev3 = EV3Brick()
cam = UniCam(Port.S1)                            # 不填 mode：自動讀相機目前的模式 / mode read from the camera
left = Motor(Port.B)
right = Motor(Port.C)
robot = DriveBase(left, right, 56, 114)          # 輪徑 56 mm、輪距 114 mm / wheel 56 mm, axle 114 mm

if cam.mode_number() != 13:                      # EV3 讀得到相機的模式，切錯了就提醒 / EV3 can check the mode
    print('請把相機切到 模式 13（顏色追蹤 ③）/ please set the camera to mode 13')
    ev3.speaker.beep(200, 500)
    wait(3000)
    raise SystemExit

KP = 3            # 👉 可以改：偏 1 像素就多轉幾度／秒 / turn rate per pixel of error
STOP_AREA = 20    # 👉 可以改：面積 ≥ 20 % 就算很近 / area (%) that counts as "close"

while True:
    p = cam.xy(1)                                # 色 1 的 (X, Y) 像素（EV3 是 8×6 格，±10）/ pixels (±10 on EV3)
    if p is None:                                # 讀不到相機 / no camera
        robot.stop()
    elif p[0] == 0:                              # 沒看到：原地慢慢轉著找 / not seen: spin to search
        robot.drive(0, 60)
    else:
        error = p[0] - 80                        # 畫面中間 X = 80；色塊在右 → 正 / right of centre = positive
        speed = 0 if cam.area(1) >= STOP_AREA else 80
        robot.drive(speed, error * KP)           # 面積在同一個模式（模式 1），不用多等 / same EV3 mode, no wait
    wait(20)

#!/usr/bin/env pybricks-micropython
# 神攝手 × EV3 範例 2：座標取色判斷顏色
# SharpShot × EV3 example 2: what colour is at the spot?
# 需要把相機選單切到 相機模式 2 座標取色 ・子選項 ③ 色相＋飽和＋明度 ＝模式編號 23（EV3 給 2 點，原始值）
# Camera menu: camera mode 2 Spot colour, option 3 Hue + sat + value = mode number 23 (2 spots, exact values)
# 軟體 Software：Pybricks v4 或 樂高官方 EV3 MicroPython v2
# 準備：取樣點 S1、S2 的位置看相機螢幕上標 1、2 的十字 / spots S1, S2 are the crosses on the camera screen
# 接線 Wiring：相機 → 1 號孔 / camera → port 1
from pybricks.hubs import EV3Brick
from pybricks.parameters import Port, Color
from pybricks.tools import wait
from MBC_UniCam_EV3 import UniCam, color_name

ev3 = EV3Brick()
cam = UniCam(Port.S1, mode=23)                   # 填了 mode 就不用先讀模式 0 / giving mode skips one mode switch

NAME = {'red': '紅', 'orange': '橙', 'yellow': '黃', 'green': '綠', 'cyan': '青',
        'blue': '藍', 'purple': '紫', 'white': '白／灰', 'black': '黑'}
LIGHT = {'red': Color.RED, 'orange': Color.ORANGE, 'yellow': Color.YELLOW, 'green': Color.GREEN}
LOW_SAT = 15      # 👉 可以改：飽和度比這低就當成白／灰 / below this saturation = white / grey

while True:
    names = []
    for point in (1, 2):
        p = cam.hsv(point)                       # (色相碼, 飽和度, 明度) / (hue, sat, val)
        if p is None:
            names.append(None)
            continue
        n = color_name(p[0])
        if p[1] < LOW_SAT and n != 'black':
            n = 'white'
        names.append(n)
        print('S%d 色相碼 hue %d 飽和 sat %d 明度 val %d → %s %s' % (point, p[0], p[1], p[2], NAME[n], n))
    if names[0] in LIGHT:                        # EV3 的燈只有紅、綠、橙、黃 / EV3 light: red, green, orange, yellow
        ev3.light.on(LIGHT[names[0]])
    else:
        ev3.light.off()
    if names[0] is not None and names[0] == names[1]:
        print('兩點一樣顏色 / both spots are the same colour')
    wait(300)

#!/usr/bin/env pybricks-micropython
# 神攝手 × EV3 範例 3：PD 循線＋路口停車
# SharpShot × EV3 example 3: PD line following + stop at a junction
# 需要把相機選單切到 相機模式 4 循線 ・子選項 ① 黑線 ＝模式編號 41（白線 42、色線 43 也可以）
# Camera menu: camera mode 4 Line, option 1 Black line = mode number 41 (42 / 43 also work)
# 軟體 Software：Pybricks v4 或 樂高官方 EV3 MicroPython v2
# 準備：相機裝在車頭、斜斜往前下方看線 / camera at the front, looking down and forward
# 接線 Wiring：相機 → 1 號孔；左輪 B、右輪 C / camera → port 1; left wheel B, right wheel C
# 方向：站在車後往前看，線在左＝負 / standing behind the robot: line on the left = negative
# EV3 每換一次模式約 0.5 秒：這支只用模式 1 的值（近、遠、旗標、路口）/ only mode-1 values (no mode switch)
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.parameters import Port
from pybricks.robotics import DriveBase
from pybricks.tools import wait
from MBC_UniCam_EV3 import UniCam

ev3 = EV3Brick()
cam = UniCam(Port.S1)
left = Motor(Port.B)
right = Motor(Port.C)
robot = DriveBase(left, right, 56, 114)

if cam.mode_number() not in (41, 42, 43):        # 相機沒切到循線就提醒 / camera not in line mode
    print('請把相機切到 循線（模式 41／42／43）/ please set the camera to line mode')
    ev3.speaker.beep(200, 500)
    wait(3000)
    raise SystemExit

SPEED = 120       # 👉 可以改：前進速度 mm/s / forward speed
KP = 1.5          # 👉 可以改：比例 / proportional gain
KD = 4.0          # 👉 可以改：微分 / derivative gain
last_error = 0

while True:
    junction = cam.junction()                    # 0 無 1 十字 2 T 3 左 4 右 5 盡頭 / junction type
    if junction is None:                         # 讀不到相機：停車 / no camera: stop
        robot.stop()
        wait(50)
        continue
    if junction in (1, 2):                       # 十字或 T 字路口：停車嗶一聲 / cross or T: stop
        robot.stop()
        ev3.speaker.beep()
        break
    if cam.flags() == 0:                         # 近中遠都沒看到線：往上一次偏的那邊找 / line lost
        robot.drive(0, -120 if last_error < 0 else 120)
        wait(10)
        continue
    error = 0.7 * cam.near() + 0.3 * cam.far()   # 近處為主、遠處提早轉彎 / mostly near, a bit of far
    turn = KP * error + KD * (error - last_error)
    last_error = error
    robot.drive(SPEED, turn)                     # 線在左（負）→ 往左轉 / line on the left → turn left
    wait(10)

#!/usr/bin/env pybricks-micropython
# 神攝手 × EV3 範例 4：跟著正方形走、螢幕顯示它轉了幾度
# SharpShot × EV3 example 4: drive to a square and show its angle on the screen
# 需要把相機選單切到 相機模式 5 物體偵測 ・子選項 ② 物體詳細＝模式編號 52
# Camera menu: camera mode 5 Object detection, option 2 Object detail = mode number 52
# 軟體 Software：Pybricks v4（code.pybricks.com）或 樂高官方 EV3 MicroPython v2（同一支程式都能跑）
# 準備：在相機上教「目標 1」的顏色（例如藍色方塊）/ teach "target 1" on the camera (e.g. a blue block)
# 接線 Wiring：相機 → 1 號孔 / camera → port 1；左輪 B、右輪 C / left wheel B, right wheel C
# 同一個資料夾要有 MBC_UniCam_EV3.py / put MBC_UniCam_EV3.py in the same folder
#
# 物體代碼＝色號×10＋形狀：目標 1 的正方形＝1×10＋4＝14。EV3 模式 52 給 2 個物體（面積大的是物體 1），
# 代碼、位置、面積、角度都在 EV3 模式 1，不用換模式（不會多等 0.5 秒）。
# Object code = colour × 10 + shape: target 1 square = 14. EV3 mode 52 gives 2 objects (object 1 = largest);
# code, position, area and angle are all in EV3 mode 1, so there is no 0.5 s mode switch.
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor
from pybricks.parameters import Port
from pybricks.robotics import DriveBase
from pybricks.tools import wait
from MBC_UniCam_EV3 import UniCam, shape_name

ev3 = EV3Brick()
cam = UniCam(Port.S1)                            # 不填 mode：自動讀相機目前的模式 / mode read from the camera
left = Motor(Port.B)
right = Motor(Port.C)
robot = DriveBase(left, right, 56, 114)          # 輪徑 56 mm、輪距 114 mm / wheel 56 mm, axle 114 mm

if cam.mode_number() != 52:                      # EV3 讀得到相機的模式，切錯了就提醒 / EV3 can check the mode
    print('請把相機切到 模式 52（物體偵測 ② 物體詳細）/ please set the camera to mode 52')
    ev3.speaker.beep(200, 500)
    wait(3000)
    raise SystemExit

WANT = 1 * 10 + 4   # 👉 可以改：目標 1 × 10 ＋ 形狀 4（正方）；三角改成 13、圓改成 11 / triangle 13, circle 11
KP = 3              # 👉 可以改：偏 1 像素就多轉幾度／秒 / turn rate per pixel of error
STOP_AREA = 25      # 👉 可以改：面積 ≥ 25 % 就算到了 / area (%) that counts as "arrived"

print('要找 looking for: 目標 target', WANT // 10, shape_name(WANT % 10, True), shape_name(WANT % 10))
while True:
    c1 = cam.object(1)                           # 物體 1（最大）的代碼 / code of object 1 (largest)
    if c1 is None:                               # 讀不到相機 / no camera
        robot.stop()
        wait(100)
        continue
    if c1 == WANT:                               # 物體 1、2 裡哪一個是要找的（0＝都不是）/ which one we want
        i = 1
    elif cam.object(2) == WANT:
        i = 2
    else:
        i = 0
    if i == 0:                                 # 沒看到：原地慢慢轉著找 / not seen: spin to search
        robot.drive(0, 60)
        wait(20)
        continue
    x, y = cam.object_xy(i)                      # 像素（EV3 是 8×6 格中心，±10）/ pixels (±10 on EV3)
    angle = cam.object_angle(i)                  # 0~179 度（EV3 精度 ±1）/ degrees (±1 on EV3)
    ev3.screen.clear()
    ev3.screen.print(shape_name(WANT % 10), angle)
    if cam.object_area(i) >= STOP_AREA:          # 到了：停車、嗶一聲 / arrived: stop and beep
        robot.stop()
        ev3.speaker.beep()
        break
    robot.drive(80, (x - 80) * KP)               # 畫面中間 X = 80；在右 → 正 → 右轉 / right of centre = positive
    wait(20)