Gnikrap documentation

var largeMotor = ev3.getBrick().getLargeMotor("B");

// Rotate and wait end of rotation
largeMotor.rotate(360);
largeMotor.setSpeedPercent(100);
largeMotor.rotate(-360);

// Retrieve tacho
largeMotor.rotate(60);
ev3.notify("TachoA: " + largeMotor.getTachoCount());
largeMotor.rotate(-60);
ev3.notify("TachoB: " + largeMotor.getTachoCount());
largeMotor.resetTachoCount();
ev3.notify("TachoC: " + largeMotor.getTachoCount());

// Rotate and don't wait
var tacho;
largeMotor.rotate(360 * 3, true);
while((tacho = largeMotor.getTachoCount()) < 1000) {
  ev3.notify("Tacho: " + tacho);
  ev3.sleep(200);
}

// Touch sensor API
var touchSensor = ev3.getBrick().getTouchSensor("S1");
while(ev3.isOk()) {
  ev3.notify("Push button: " + touchSensor.isPushed());
  ev3.sleep(200);
}

// Led API
var leds = ev3.getBrick().getLed();
leds.lightGreen();
ev3.sleep(2000);
leds.lightOrange().blink();
ev3.sleep(2000);
leds.lightRed().blink().blink();
ev3.sleep(2000);
leds.off();

// Sound API
var sound = ev3.getBrick().getSound();
sound.setVolume(90);
sound.beep();
for(freq = 50; freq < 1500; freq = freq + 10) {
  sound.playTone(freq, 5);
}
sound.playNote("Do", 500);
sound.playNote("Re", 500);
sound.playNote("Mi", 500);
sound.playNote("Fa", 500);
sound.playNote("Sol", 500);
sound.playNote("La", 500);
sound.playNote("Si", 500);
sound.playNote("Do4", 500);

// Screen API
var screen = ev3.getBrick().getScreen();

screen.clear();

screen.drawText("Hello world !", 0, 0);

screen.drawLine(5, 20, 120, 20);

screen.drawRectangle(10, 30, 20, 30);
screen.fillRectangle(40, 30, 30, 20);

screen.drawCircle(90, 40, 15);
screen.fillCircle(130, 40, 15);

screen.drawArc(10, 70, 20, 30, 0, 180);
screen.fillArc(10, 70, 20, 30, 180, 180);

ev3.sleep(5000);

// Screen API
// Decode an image from raw data (use Gnikrap 'import images' menu
var imgWorker02 = ev3.getBrick().getScreen().decodeImage("data:image/rgf;base64,sncAAAAAAAAAAAAAAAAAA" +
"AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" +
"AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAACAJAAAAAAAAAAAAAAAAAAAA" +
"AAAAAAAACQACQAAAAAAAAAAAAAAAAAAAAAAAAAAAQggAAAAAAAAAAAAAAAAAAAAAAAAAECAAIAAAAAAAAAAAAAAAAAAAAAAAAAAE" +
"BJABAQAAAAAAAAAAAAAAAAAAAAAAACAAAIAAQAAAAAAAAAAAAAAAAAAAAAAACSAABAIAAAAAAAAAAAAAAAAAAAAAAAAABIQASAAA" +
"AAAAAAAAAAAAAAAAAAAAAAlAABAQgEAAAAAAAAAAAAAAAAAAAAAAAAAIRLQBwAAAAAAAAAAAAAAAAAAAABASSLQG8APAAAAAAAAA" +
"AAAAAAAAAAAAAAAAPxf0hkAAAAAAAAAAAAAAAAAAAAAICWA/n/gIQAAAAAAAAAAAAAAAAAAAAAAgCQ/8OJIAAAAAAAAAAAAAAAAA" +
"AAAAFAVgB/Q6YwBAAAAAAAAAAAAAAAAAAAA4P+vD4D/gAAAAAAAAAAAAAAAAAAAAADo//+HAP8EAwAAAAAAAAAAAAAAAAAAAPD//" +
"wcA/xAHAAAAAAAAAAAAAAAAAAAAPKD/JwD+cwAAAAAAAAAAAAAAAAAAAADYBfoPIMZ5AQAAAAAAAAAAAAAAAAAAAP6T4AcElncAA" +
"AAAAAAAAAAAAAAAAAAA7AKCBx8GwwAAAAAAAAAAAAAAAAAAAACWC6gfFZbmAAAAAAAAAAAAAAAAAAAAAJQigB8nB0cBAAAAAAAAA" +
"AAAAAAAAAAAkIcEH20jnAMAAAAAAAAAAAAAAAAAAADSCyAfCgv6AAAAAAAAAAAAAAAAAAAAAPQnCX7EgfAAAAAAAAAAAAAAAAAAA" +
"AAA4AtA/PkhSgAAAAAAAAAAAAAAAAAAAADqlwT5f4gQAAAAAAAAAAAAAAAAAAAAAMAPEOC/oKcBAAAAAAAAAAAAAAAAAAAAyi9BS" +
"hVqDQAAAAAAAAAAAAAAAAAAAACAXwQAQKj6AwAAAAAAAAAAAAAAAAAAABQ/kZASelcFAAAAAAAAAAAAAAAAAAAAQH8EAoDWugcAA" +
"AAAAAAAAAAAAAAAAAAI/pFIpLr1DgAAAAAAAAAAAAAAAAAAAKB8IwBAV68LAAAAAAAAAAAAAAAAAEAFCPmPVNX6+h8AAAAAAAAAA" +
"AAAAAAAECgg8D+qqlX/BwAAAAAAAAAAAAAAAACkQkDFf+pV/38DAAAAAAAAAAAAAAAAAAiVEqi/Wquq6gEAAAAAAAAAAAAAAAAAU" +
"SilAlrt3v9fAAAAAAAAAAAAAAAAAACEUgioJNpr7fYAAAAAAAAAAAAAAAAAgCilUgVJtf6/3wAAAAAAAAAAAAAAAAAAQUiVKBL6V" +
"fX6AwAAAAAAAAAAAAAAAECqEipFpKS/r1cHAAAcAAAAAAAAAAAAAAClYKgSqWp1/QAAAD4AAAAAAAAAAABQVUhVBaWS/q+rAAAAP" +
"gAAAAAAAAAAAACAErKqSCSp2t4AAAA/AAAAAAAAAAAAUFWkdFSVqqq/NQAAgD4AAAAAAAAAAAAAgAr5IqlUVWovAACA/gAAAAAAA" +
"AAAAKgqUPJUUqWqKiAAAEA/AAAAAAAAAAAAAECF9EmVqqqqAAAAoP4AAAAAAAAAAABUFSjhl6qqqqoAAACgPgAAAAAAAAAAAACgQ" +
"spfUFJV1QHgAFD/AAAAAAAAAAAAqgoUoP+KJKmqA/D/rz4AAAAAAAAAAAAAUEEF/ytJStUH8P+v/gAAAAAAAAAAAKoCFFD8X5JS9" +
"S/4/1//AQAAAAAAAAAAAFRBBdD/r6r+T/T/r/4BAAAAAAAAAABVARRQov7///+f+v9f/wEAAAAAAAAAAABUQQII9f//8z/1/7/+A" +
"AAAAAAAAACAqgAESELq///Af/z/V/8AAAAAAAAAAAAAKlECEND//wB/+f+//gAAAAAAAAAAgKoABJAAgf9/AGj6/9f/AAAAAAAAA" +
"AAAAFIhAUQI/n8A0fz/3z8AAAAAAAAAAIBKAAQkAYD4fwAE+f/XfwAAAAAAAAAAAACVkAAQIfS/AFH6/+9fAAAAAAAAAACAKgACB" +
"AQAwB8EhPz/+w8AAAAAAAAAAACAVEiQAACAnwAQ/f//DwAAAAAAAAAAgBIAAQEQABAGCED+//8HAAAAAAAAAAAAQCUkCAQAAAgCC" +
"P3//w8AAAAAAAAAAIAKgABCAAAAQgBA/v//DwAAAAAAAAAAACAJkgAQAEAAABD8//8BAAAAAAAAAACACqAAiIQAAAAIAP3//wEAA" +
"AAAAAAAAACgChIhACQAAABA+P//AAAAAAAAAAAAgAogAAAQAQIAAADw//8BAAAAAAAAAAAAIIlEhASAAAAQAOH//wAAAAAAAAAAA" +
"IAKIAAAACQQAAAAxP8/AAAAAAAAAAAAQKAKCQAgAAAAAAAA/z8AAAAAAAAAAAAABSBABAgAAAAEAEjqDwAAAAAAAAAAAABQigQgA" +
"gAgACAAAhQAAAAAAAAAAAAAAAIgEAEAAAAAAABAqQIAAAAAAAAAAAAAVIUEAAAAQCAAAAiSAAAAAAAAAAAAAAAAECCSRAAJBBEAQ" +
"CQAAAAAAAAAAAAAAFRFCQAQEgAAAAAICQAAAAAAAAAAAAAAABBAAIBAIiAAACAAAAAAAAAAAAAAAACoQhKSBAgICRIAgAoAAAAAA" +
"AAAAAAAAAAUAAAAAACAAAAoAAAAAAAAAAAAAAAAUEElCBCBECAgAIAKAAAAAAAAAAAAAAAICoAgAQiCBAIAEgAAAAAAAAAAAAAAA" +
"EBQFQIkIiCASAFABQAAAAAAAAAAAAAAgAJAKICABAgAhAoAAAAAAAAAAAAAAAAAVBWBKiogIZEAoAAAAAAAAAAAAAAAAAABQCSAg" +
"AQIBCoJAAAAAAAAAAAAAAAAgFQVgRQqkEAgAKAAAAAAAAAAAAAAAAAAACAUQIACEomkCgAAAAAAAAAAAAAAAACoSqESKUgAAAAgA" +
"AAAAAAAAAAAAAAAAEgUCkSAAKVSVQUAAAAAAAAAAAAAAAAAgKJQERUqAAAACAAAAAAAAAAAAAAAAAAAFAVKoIAqlUoBAAAAAAAAA" +
"AAAAAAAAACiqJAKKgAAEAIAAAAAAAAAAAAAAAAAAApFJVCAqqpCAAAAAAAAAAAAAAAAAAAAqChIhSoAAJQAAAAAAAAAAAAAAAAAA" +
"AAARRUoQFVVIQAAAAAAAAAAAAAAAAAAAAAooEIVAAAKAAAAAAAAAAAAAAAAAAAAAEAVFKCqqgAAAAAAAAAAAAAAAAAAAAAAAKWiC" +
"gARAAAAAAAAAAAAAAAAAAAAAAAAURVRVQIAAAAAAAAAAAAAAAAAAAAAAABwqEoiAgAAAAAAAAAAAAAAAAAAAAAAAAAIACAAAAAAA" +
"AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" +
"AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA");

ev3.getBrick().getScreen().drawImage(imgWorker02, 0, 0);
ev3.sleep(5000);

// Screen API
// Build an image
var smiley = ev3.getBrick().getScreen().buildImage(
  "XXXXXXXXXXXXXXXXXXXXXXXXXXXXXX"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X    XXXX             XXXX   X"
  "X     XX               XX    X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X    XX                XX    X"
  "X      XX            XX      X"
  "X        XXXXXXXXXXXX        X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "X                            X"
  "XXXXXXXXXXXXXXXXXXXXXXXXXXXXXX "
  );

ev3.getBrick().getScreen().drawImage(smiley, 40, 40);
ev3.sleep(5000);

// Battery API
var battery = ev3.getBrick().getBattery();
ev3.notify("Battery current: " + battery.getBatteryCurrent());
ev3.notify("Motor current: " + battery.getMotorCurrent());
ev3.notify("Voltage: " + battery.getVoltageMilliVolt());

// Initialization
// ... (1)


// You can also define functions here if needed
// ... (2)


// Perform calibration if needed
// ... (3)


// Main loop - This is the main program
while(ev3.isOk()) {
  // ... (4)
}

// Finalization
// Note: The finalization must run very fast, otherwise the script will be force-killed
// ... (5)

///////////////////////////////////////////////////////////////////////////////
// Note: Please adjust the port to what is physically connected on your brick.
///////////////////////////////////////////////////////////////////////////////

// Initialization  (1)
var leftMotor = ev3.getBrick().getLargeMotor("D");
var rightMotor = ev3.getBrick().getLargeMotor("A");
var xVideo = ev3.getXSensor("xVideo");

// The margin in order to consider that we reach the border
var borderMargin = 80;

// Motor should not go too fast in order to don't "loose" the ev3
leftMotor.setSpeedPercent(30);
rightMotor.setSpeedPercent(30);

// Function in order to check if the ev3 is near from the xSensor "vision" border (2)
function isNearToBorder(visibleObject) {
    return (visibleObject.getX() < borderMargin) || (visibleObject.getY() < borderMargin)
        || ((visibleObject.getX() + borderMargin) > 640) || ((visibleObject.getY() + borderMargin) > 480);
}

// Function to move backward and make a random turn (3)
function backwardAndTurnRandomly() {
    leftMotor.rotate(-360, true);
    rightMotor.rotate(-360);

    var r = 180 + Math.random() * 270;
    leftMotor.rotate(r, true);
    rightMotor.rotate(-r);
}

function stopMotors() { // (4)
    leftMotor.stop();
    rightMotor.stop();
}

// Main loop - This is the main program (5)
while(ev3.isOk()) {
    var val = xVideo.getValue();

    if(val.isStarted()) { (6)
        if(val.containsObject("ev3")) { (7)
            if(isNearToBorder(val.getObject("ev3"))) {
                ev3.notify("Close to the border " + val.getObject("ev3") + ", need to change direction");
                backwardAndTurnRandomly();
            } else {
                leftMotor.forward();
                rightMotor.forward();
            }
        } else {
            stopMotors();
            ev3.notify("I don't find the 'ev3', please select it !");
            ev3.sleep(200);
        }
    } else {
        stopMotors();
        ev3.notify("I don't see nothing, please start the xVideo sensor !");
        ev3.sleep(200);
    }
}

// Finalization
// None (motors will be automatically stopped)