Скачать или смотреть LEGO NXT Snatcher Prototype III — Python Control via BrickPi

This video demonstrates Python-based control of the NXT Snatcher autonomous robotic arm using a LEGO MINDSTORMS 45544 brick in combination with Dexter Industries BrickPi and Raspberry Pi.
Encoder-based motor control is implemented to validate deterministic return-to-origin behavior using closed-loop position control.
The Python script used in this demonstration is provided in the description for reference and reproducibility.


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Title: NXT Snatcher Motor Return-to-Origin Test
# Description:
Motor control and encoder-based position reset test for the NXT Snatcher
autonomous robotic arm, adapted from "The LEGO MINDSTORMS NXT 2.0 Discovery Book".
Executed using Dexter Industries BrickPi with Raspberry Pi to validate
deterministic return-to-origin behavior via closed-loop position control.
# © 2013–present
Hyunsuk Frank Roh, MD · nGene Hemodynamic Research Center.
All rights reserved.
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import time
import brickpi3

BP = brickpi3.BrickPi3()

try:
Reset encoder and read initial position
BP.offset_motor_encoder(BP.PORT_B, BP.get_motor_encoder(BP.PORT_B))
start_position = BP.get_motor_encoder(BP.PORT_B)

print("Running motor on Port B at 50% power for 3 seconds...")
BP.set_motor_power(BP.PORT_B, 50)
time.sleep(3)

print("Stopping motor...")
BP.set_motor_power(BP.PORT_B, 0)
time.sleep(0.5)

print("Returning to original position...")
BP.set_motor_position(BP.PORT_B, start_position)

Allow time for position control to complete
time.sleep(2)

except KeyboardInterrupt:
pass
finally:
BP.reset_all()


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