Programs -

• LEGO Education SPIKE Prime

from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
from math import *

hub = PrimeHub()

motorA = Motor('A')
motorB = Motor('B')

motorA.set_default_speed(-30)
motorB.set_default_speed(30)

wait_for_seconds(1) # Wait for one second.
hub.motion_sensor.reset_yaw_angle() # Reset the Gyro sensor. The current yaw angle value is equal to 0.

while True: # Repeat forever.
    if hub.motion_sensor.get_yaw_angle() < 0:
        motorA.start()
        motorB.stop()
    else:
        motorB.start()
        motorA.stop()

This program is developed with LEGO Education SPIKE App Python and is used to make the Luly, small LEGO Education SPIKE Prime competition robot with 3D building instructions stop at a distance from the border field.

from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
from math import *

hub = PrimeHub() 
distance_sensor = DistanceSensor('C')

motor_pair = MotorPair('A', 'B') # Set the motor ports in the motor_pair.
motor_pair.set_default_speed(50) # Set the default speed of the motor_pair.
motor_pair.set_motor_rotation(17.6, 'cm') # Set the distance that the robot travels for one rotation of its wheels. The value 17.6 comes from
                                        # the diameter of the wheel (5.6cm) multiplied by "π" (3.14).
motor_pair.set_stop_action('brake') # Activate the brakes when the robot stops. The other conditions are 'hold' and 'coast'.
distance_sensor.light_up_all() # Turn on the distance sensor lights.

motor_pair.start() # Move forward.

distance_sensor.wait_for_distance_closer_than(20, 'cm') # Wait until distance is closer than 20 centimeters.

motor_pair.stop() # Stop moving.
distance_sensor.light_up_all(0) # Turn off the distance sensor lights.

raise SystemExit # Close the program.

This program makes the robot move in a straight line with the user of the LEGO Education SPIKE Prime motion sensor. It's developed with LEGO Education SPIKE App Word Blocks and uses a very simple algorithm for moving straight. When the robot moves slightly to the left or right align it face forward. Try to push the robot slightly. See what happens.

Python program to turn until reaching an angle with LEGO Education SPIKE Prime Gyro Sensor.

from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
from math import *

hub = PrimeHub() 

motor_pair = MotorPair('A', 'B') # Set the motor ports in the motor_pair.
motor_pair.set_default_speed(30) # Set the default speed of the motor_pair.
motor_pair.set_motor_rotation(17.6, 'cm') # Set the distance that the robot travels for one rotation of its wheels. The value 17.6 comes from
                                        # the diameter of the wheel (5.6cm) multiplied by "π" (3.14).
motor_pair.set_stop_action('brake') # Activate the brakes when the robot stops. The other conditions are 'hold' and 'coast'.

wait_for_seconds(1) # Wait for one second.
hub.motion_sensor.reset_yaw_angle() # Reset the Gyro sensor. The current yaw angle value is equal to 0.

motor_pair.start(steering = 100) # Turn left around the center of the wheelbase. Leftward because of steering=-100 parameter.

# To program the robot to wait until the robot has turned, we need to define a fuction that checks if the robot has turned.
def left_turn_end(): # Define the function
    return hub.motion_sensor.get_yaw_angle() > 90 # Return true or false depending on the yaw angle value.

wait_until(left_turn_end) # Wait until the left turn end. left_turn_end is a function that defines the left turn

motor_pair.stop() # Stop moving. Hit the brakes! Remember the motor_pair.set_stop_action('brake') statement/setting?

raise SystemExit # Close the program.

Scratch program to turn until reaching an angle with LEGO Education SPIKE Prime Gyro Sensor.

This program makes the robot move forwards, turn left, move forwards, and then turn right using LEGO Education SPIKE App Python.

from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
from math import *

hub = PrimeHub() 

motor_pair = MotorPair('A', 'B') # Set the motor ports in the motor_pair.
motor_pair.set_default_speed(50) # Set the default speed of the motor_pair.
motor_pair.set_motor_rotation(17.6, 'cm') # Set the distance that the robot travels for one rotation of its wheels. The value 17.6 comes from
                                        # the diameter of the wheel (5.6cm) multiplied by "π" (3.14).

motor_pair.move(50,'cm', 0, 50) # Start moving for 50cm with NO Steering '0' at 50% of the maximum speed.
motor_pair.move(8.8,'cm', -100, 50) # Start moving for 8.8cm with steering '-100' at 50% of the maximum speed. This makes the robot turn left 90deg
                                    # at 50% of the maximum speed of the motors. The value 8.8 represents the angle of rotation. This is the distance every 
                                    # wheel needs to travel to rotate the robot 90deg. This value is calculated in the following way: The wheel base
                                    # (the distance between the points where the wheels touch the ground) is the
                                    # diameter of the turn (in this case it is 11,2cm). Since we want to turn 90deg (1/4 of the turn) we multiply
                                    # the diameter (11,2) by "π" (3.14) and divide it to 4 as 90 degrees are 1/4 of the circle.
motor_pair.move(40,'cm', 0, 50) # Start moving for 50cm with NO Steering '0' at 50% of the maximum speed.
motor_pair.move(8.8,'cm', 100, 50) # Start moving for 8.8cm with steering '100' at -50% of the maximum speed. This makes the robot turn right 90deg
                                    # at 50% of the maximum speed of the motors. Turn right because the steering is positive 100%.

raise SystemExit # Close the program.

This program makes the robot move forwards, turn left, move forwards and than turn right using LEGO Education SPIKE App Word Blocks which is Scratch.

This program makes the robot move forwards and then backwards using LEGO Education SPIKE App Python.

from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
from math import *

hub = PrimeHub() 

motor_pair = MotorPair('A', 'B') # Set the motor ports in the motor_pair.
motor_pair.set_default_speed(50) # Set the default speed of the the motor_pair.
motor_pair.set_motor_rotation(17.6, 'cm') # Set the distance that the robot travel for one rotation of its wheels. The value 17.6 comes from
                                          # the diameter of the wheel (5.6cm) multiplied by "π" (3.14).

motor_pair.move(40,'cm', 0, 50) # Start moving for 40cm with NO Steering '0' with 50% speed.
motor_pair.move(40,'cm', 0, -50) # Start moving backward for 40cm with NO Steering '0' with 50% speed. -50 for speed means: rotate with 50% seed backward.

raise SystemExit # Close the program.

This program makes the robot move forwards and than backwards using LEGO Education SPIKE App Word Blocks.

This program makes Motorka - LEGO SPIKE Prime motorbike robot move in the form of an 8 (or infinity sign:))! It uses the other program for the robot as a base, but instead of letting the steering free, this program controls it so that the robot moves in a shape!

This program is a solution to the lack of a differential on the robot, which makes its turns slower and bigger! The program reads the realtive angle of the front motor, used for steering, and feeds it to the back motors so as to make one go faster and one slower! This makes the robot turn much faster and smoother. The program requires for someone to turn the steering motor, so experiment with different turning angles and push the limits of the robot! Make sure the markings on the moving and non-moving parts of the front motor align, because that is an essential part of the program!

This program is for the target part of Pallo. It consists of a piston with different colored sections, which are detected by a color sensor. The beginning of the piston is a green section, so the program waits for that to change, meaning that the target has been hit, and then it celebrates! The celebration is pretty simple, it measures the color of the new section, which can give us how accurately the target has been hit, and lights the center button with that color! Additionally it writes "YAY" on the screen of the hub. Feel free to improve it however you like!

This program is for Calix - LEGO SPIKE Prime carrying robot. The robot is made to carry an object while following a black line. This is probably one of the first thought that comes to mind when you think of robotics - A robot that can help at home! This robot is made as a first try at this concept. It can move not too heavy objects from one room to the other, following a black line. The program does the following: First it waits for you to put something on the robot and to click the left or right hub buttons. After that it lifts the item a bit and starts following a black line. It follows the line until it sees the same color for more than 3 seconds, thats how the robot knows it has reached the end of the line! After that it rises whatever it is carrying and waits while keeping the object up.

This program makes Tohuru - LEGO SPIKE Prime owl robot move like an owl! What does an owl move like? Well, we decided that an important part of an owl's life is that it holds strong onto a branch! So the first part of the program makes the robot hold onto anything that is between its two wheels. After the owl starts spinning his head and searches for the closest object to him. Then he stares at it menacingly until it moves away!