add Rac3 Truck program

robots/RAC3_TRUCK/README.md

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+# RAC3 TRUCK
+
+> Designed by Laurens Valk.
+>
+> Want a remote controlled truck? Got it! This is one fun cool ride. You can modify the truck to make it go faster by adding gears, and you can add a custom-built trailer so the truck can be used as a transport vehicle.
+
+The build instructions may be found at the official LEGO MINDSTROMS site [here](https://www.lego.com/cdn/cs/set/assets/blt8d8677b8321b803e/RAC3_TRUCK.pdf)
+
+Drive RAC3 TRUCK around according to instructions from Channel 1 of the IR Remote Control:
+    - 2 Top/Up Buttons together: drive forward
+    - 2 Bottom/Down Buttons together: drive backward
+    - Top-Left/Red-Up: turn left forward
+    - Top-Right/Blue-Up: turn right forward
+    - Bottom-Left/Red-Down: turn left backward
+    - Bottom-Right/Blue-Down: turn right backward

robots/RAC3_TRUCK/rac3_truck.py

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+#!/usr/bin/env python3
+
+
+from ev3dev.ev3 import (
+    Motor, MediumMotor, LargeMotor, OUTPUT_A, OUTPUT_B, OUTPUT_C,
+    InfraredSensor, RemoteControl, INPUT_4,
+    Sound
+)
+
+from time import sleep
+
+
+class Rac3Truck:
+    def __init__(
+            self,
+            left_motor_port: str = OUTPUT_B, right_motor_port: str = OUTPUT_C,
+            polarity: str = Motor.POLARITY_INVERSED,
+            steer_motor_port: str = OUTPUT_A,
+            ir_sensor_port: str = INPUT_4, ir_beacon_channel: int = 1,
+            fast=False):
+        self.left_motor = LargeMotor(address=left_motor_port)
+        self.right_motor = LargeMotor(address=right_motor_port)
+
+        self.steer_motor = MediumMotor(address=steer_motor_port)
+
+        self.left_motor.polarity = self.right_motor.polarity = polarity
+
+        self.ir_sensor = InfraredSensor(address=ir_sensor_port)
+        self.remote_control = RemoteControl(sensor=self.ir_sensor,
+                                            channel=ir_beacon_channel)
+
+        self.speaker = Sound()
+
+    def reset(self):
+        self.steer_motor.run_timed(
+            speed_sp=300,
+            time_sp=1500,
+            stop_action=Motor.STOP_ACTION_COAST)
+        self.steer_motor.wait_while(Motor.STATE_RUNNING)
+
+        self.steer_motor.run_to_rel_pos(
+            speed_sp=500,
+            position_sp=-120,
+            stop_action=Motor.STOP_ACTION_HOLD)
+        self.steer_motor.wait_while(Motor.STATE_RUNNING)
+
+        self.steer_motor.reset()
+
+    def steer_left(self):
+        if self.steer_motor.position > -65:
+            self.steer_motor.run_to_abs_pos(
+                speed_sp=-200,
+                position_sp=-65,
+                stop_action=Motor.STOP_ACTION_HOLD)
+            self.steer_motor.wait_while(Motor.STATE_RUNNING)
+
+        else:
+            self.steer_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+    def steer_right(self):
+        if self.steer_motor.position < 65:
+            self.steer_motor.run_to_abs_pos(
+                speed_sp=200,
+                position_sp=65,
+                stop_action=Motor.STOP_ACTION_HOLD)
+            self.steer_motor.wait_while(Motor.STATE_RUNNING)
+
+        else:
+            self.steer_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+    def steer_center(self):
+        if self.steer_motor.position < -7:
+            self.steer_motor.run_to_abs_pos(
+                speed_sp=200,
+                position_sp=4,
+                stop_action=Motor.STOP_ACTION_HOLD)
+            self.steer_motor.wait_while(Motor.STATE_RUNNING)
+
+        elif self.steer_motor.position > 7:
+            self.steer_motor.run_to_abs_pos(
+                speed_sp=-200,
+                position_sp=-4,
+                stop_action=Motor.STOP_ACTION_HOLD)
+            self.steer_motor.wait_while(Motor.STATE_RUNNING)
+
+        self.steer_motor.stop(stop_action=Motor.STOP_ACTION_HOLD)
+
+        sleep(0.1)
+
+    def drive_by_ir_beacon(self):
+        # forward
+        if self.remote_control.red_up and self.remote_control.blue_up:
+            self.left_motor.run_forever(speed_sp=800)
+            self.right_motor.run_forever(speed_sp=800)
+
+            self.steer_center()
+
+        # backward
+        elif self.remote_control.red_down and self.remote_control.blue_down:
+            self.left_motor.run_forever(speed_sp=-800)
+            self.right_motor.run_forever(speed_sp=-800)
+
+            self.steer_center()
+
+        # turn left forward
+        elif self.remote_control.red_up:
+            self.left_motor.run_forever(speed_sp=600)
+            self.right_motor.run_forever(speed_sp=1000)
+
+            self.steer_left()
+
+        # turn right forward
+        elif self.remote_control.blue_up:
+            self.left_motor.run_forever(speed_sp=1000)
+            self.right_motor.run_forever(speed_sp=600)
+
+            self.steer_right()
+
+        # turn left backward
+        elif self.remote_control.red_down:
+            self.left_motor.run_forever(speed_sp=-600)
+            self.right_motor.run_forever(speed_sp=-1000)
+
+            self.steer_left()
+
+        # turn right backward
+        elif self.remote_control.blue_down:
+            self.left_motor.run_forever(speed_sp=-1000)
+            self.right_motor.run_forever(speed_sp=-600)
+
+            self.steer_right()
+
+        # otherwise stop
+        else:
+            self.left_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
+            self.right_motor.stop(stop_action=Motor.STOP_ACTION_COAST)
+
+            self.steer_center()
+
+    def main(self):
+        self.reset()
+        sleep(1)
+
+        while True:
+            self.drive_by_ir_beacon()
+            sleep(0.01)
+
+
+if __name__ == '__main__':
+    RAC3_TRUCK = Rac3Truck()
+    RAC3_TRUCK.main()