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Program Quarky Mecanum Robot with PictoBlox and Python
[Mecanum]

Programming the Quarky Mecanum with Python in PictoBlox

Description
In this lesson, learn how to program the Quarky Mecanum robot with PictoBlox and Python in both Stage and Upload modes. Understand the functions provided in the Quarky Mecanum library, and see how to control the robot’s motors, pick-and-place robot, and gripper robot.

PictoBlox also provides the ability to program the Quarky Mecanum using Python in Desktop / Laptop versions. Let’s see how you can do it in this lesson.

PictoBlox

With PictoBlox, you can program the Quarky Mecanum!

If you haven’t installed PictoBlox, please follow the instructions:


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changesize()
The function changes its sprite’s size by the specified amount. The default sprite size is 100; size values below that percentage are for shrunken sprites, and size values above it are for overlarge sprites.
Syntax: changesize(percentage = 10)
changevolume()
The function changes the volume of a sprite by the specified amount.
Syntax: changevolume(volume = -10)
mousey()
The function reports the mouse pointer’s current y position on the stage.
Syntax: mousey()
setsize()
The function sets the Pen Size to the given number. The pen draws a trail of circles. The diameter of the circle, in pixels, is equal to the pen size.
Syntax: setsize(size = 1)
showpattern()
The function sets the RGB LED display matrix to display the specified pattern: “rainbow”, “rainbow strip”, “cloud colors”, “party colors”, “forest colors”, and “lava colors”.
Syntax: showpattern(pattern = “rainbow”)
getdistance()
The function returns the distance reading from the specified ultrasonic sensor.
Syntax: getdistance(sensor_number = 1)
runmotor()
The function sets the specified motor of the Quarky robot to the specified direction (“FORWARD” or “BACKWARD”) and specified speed.
Syntax: runmotor(motor = “L”, direction = “FORWARD”, speed = 100)
imagefeaturecount()
The function reports the number of specified features to count in the image. The options are celebrities, brands, objects, and image tags in a single image can be reported.
Syntax: imagefeaturecount(feature_type = “object”)
handwrittentextresult()
The function reports the handwritten text identified from the analysis.
Syntax: handwrittentextresult()
setcloseangle()
The function sets the Quarky Gripper Robot’s gripper servo motor angle for a close position to the specified value.
Syntax: setcloseangle(angle = 90)
model.predict()
Keras models can be used to detect trends and make predictions, using the model.predict() function.
Syntax: model.predict(image_array)
ldrvalue()
The function reports the analog reading of the LDR (Light) sensor connected to the selected pin. The value will vary between 0 to 4095.
Syntax: ldrvalue(pin = “A1”)
adaio.getcolordata()
The function gets the last color value from the specified feed and stores it in PictoBlox or Quarky.
Syntax: adaio.getcolordata(feedname = “feed name”)
setheadangle()
The function sets the servo motors of the head to the specified angle.
Syntax: setheadangle(Angle = 90)
movehand()
The function sets the servo motors of the humanoid hand to the specified angles at the specified speed.
Syntax: movehand(time = 1000, servo angles = [90,90])
initialisepickplace()
The function sets the ports for the left and right servo motors of a pick-and-place robot.
Syntax: initialisepickplace(left servo = 5, right servo = 4)
reversemotordirection()
The function reverses the forward direction of the specified motor of the Quarky Expansion Board.
Syntax: reversemotordirection(motor port = 1)
math.atanh()
The function is used to calculate the inverse hyperbolic tangent of a given value.
Syntax: math.atanh(x)
roboticArm.moveincircleclockwise()
This function creates a clockwise circle trajectory in the Y plane for a robotic arm, given the center position in the X and Z axes, and the radius of the circle. The function calculates the points on the trajectory and sends instructions to the arm to travel to each point sequentially.
Syntax: roboticArm.moveincircleclockwise(XPOS = 0, ZPOS = 80, RADIUS = 50, YPOS = 180, TIME = 4000)
setirsensor()
This function sets the three pins for IR sensors used in line following for left, middle, and right detection.
Syntax: setirsensor(set_left = ‘D1’, set_middle = ‘D2’, set_right = ‘D3’)
expression()
This function is used to get the expression of the analyzed face. The parameter can be used to select the identifying number of the face whose expression is to be analyzed.
Syntax: expression(face = 1)
setsize()
The function sets its sprite’s size to the specified amount. The default sprite size is 100%; anything lower than that will decrease the size of the sprite on the stage, and anything above will increase the size of the sprite on the stage.
Syntax: setsize(percentage = 100)
setvolumeto()
The function sets its sprite’s volume to the specified amount. It only affects the sprite (or the Stage) that the block is in.
Syntax: setvolumeto(volume = 100)
changesize()
The function changes the pen size by the specified amount.
Syntax: changesize(size = 1)
setbrightness()
The function sets the brightness of the RGB LED display matrix.
Syntax: setbrightness(brightness = 20)
readdigitalsensor()
The function returns the state of the digital sensor connected to the specified pin of the Quarky.
Syntax: readdigitalsensor(digital_pin = “D1”)
stopmotor()
The function stops the specified motor of the Quarky.
Syntax: stopmotor(motor = “L”)
imagefeatureinfo()
The function reports the name/x position/y position/width/height or confidence of the recognized celebrity/brand/object/image tag. If the number is out of range, then the function will return NULL.
Syntax: imagefeatureinfo(feature_type = “object”, number = 1, information = “name”)
printedtextresult()
The function reports the printed text identified from the analysis.
Syntax: printedtextresult()
setopenangle()
The function sets the Quarky Gripper Robot’s gripper servo motor angle for an open position to the specified value.
Syntax: setopenangle(angle = 90)
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Connecting Quarky with PictoBlox

Let’s begin by first connecting Quarky to PictoBlox. Follow the steps below for connecting Quarky to PictoBlox:

    1. First, connect Quarky to your laptop using a USB cable.
    2. Next, open PictoBlox on your desktop.
    3. After that, select Python Coding as your coding environment.
    4. Then, click the Board button in the toolbar and select Board as Quarky.
    5. Next, select the appropriate Serial port if the Quarky is connected via USB or the Bluetooth Port if you want to connect Quarky via Bluetooth and press Connect.
      COM Port
    6. Click on the Upload Firmware button. This will upload the latest firmware in Quarky.
      Note: If your device already has the latest firmware, then PictoBlox will show the message – Firmware is already updated. For learning more you can refer to this tutorial: https://ai.thestempedia.com/docs/quarky/quarky-toubleshooting/updating-quarky-firmaware-with-pictoblox/
    7. Once the firmware is uploaded, Quarky starts the Getting Started program. This runs only for the first time. Run through it.

And voila! Quarky is now connected to PictoBlox.

Quarky Mecanum Python Library for Stage Mode

Stage mode is one of the two modes you can write your programs in PictoBlox. In this mode, you can write scripts for the sprite and boards to interact with sprites in real-time. If you disconnect the board with PictoBlox, you cannot interact with the board anymore.

You can toggle between the upload mode and stage mode using the button on the top right side of PictoBlox.

In Python, use the following object declaration to use Python functions in Stage Mode:

meca = Mecanum(1, 2, 7, 8)

Quarky Mecanum Python Library for Upload Mode

Upload mode allows you to write scripts and upload them to the board so that you can use them even when it is not connected to your computer, for example, you need to upload a script for making moving robots. In this case, Quarky will run offline according to the program and it cannot interact with the stage.

In Python, use the following object declaration to use Python functions in Upload Mode:

from quarky import *
from expansion_addon import Mecanum
meca = Mecanum(1, 2, 7, 8)

Python Functions

The following functions are available for use in the Quarky Mecanum library:


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changesize()
The function changes its sprite’s size by the specified amount. The default sprite size is 100; size values below that percentage are for shrunken sprites, and size values above it are for overlarge sprites.
Syntax: changesize(percentage = 10)
changevolume()
The function changes the volume of a sprite by the specified amount.
Syntax: changevolume(volume = -10)
mousey()
The function reports the mouse pointer’s current y position on the stage.
Syntax: mousey()
setsize()
The function sets the Pen Size to the given number. The pen draws a trail of circles. The diameter of the circle, in pixels, is equal to the pen size.
Syntax: setsize(size = 1)
showpattern()
The function sets the RGB LED display matrix to display the specified pattern: “rainbow”, “rainbow strip”, “cloud colors”, “party colors”, “forest colors”, and “lava colors”.
Syntax: showpattern(pattern = “rainbow”)
getdistance()
The function returns the distance reading from the specified ultrasonic sensor.
Syntax: getdistance(sensor_number = 1)
runmotor()
The function sets the specified motor of the Quarky robot to the specified direction (“FORWARD” or “BACKWARD”) and specified speed.
Syntax: runmotor(motor = “L”, direction = “FORWARD”, speed = 100)
imagefeaturecount()
The function reports the number of specified features to count in the image. The options are celebrities, brands, objects, and image tags in a single image can be reported.
Syntax: imagefeaturecount(feature_type = “object”)
handwrittentextresult()
The function reports the handwritten text identified from the analysis.
Syntax: handwrittentextresult()
setcloseangle()
The function sets the Quarky Gripper Robot’s gripper servo motor angle for a close position to the specified value.
Syntax: setcloseangle(angle = 90)
model.predict()
Keras models can be used to detect trends and make predictions, using the model.predict() function.
Syntax: model.predict(image_array)
ldrvalue()
The function reports the analog reading of the LDR (Light) sensor connected to the selected pin. The value will vary between 0 to 4095.
Syntax: ldrvalue(pin = “A1”)
adaio.getcolordata()
The function gets the last color value from the specified feed and stores it in PictoBlox or Quarky.
Syntax: adaio.getcolordata(feedname = “feed name”)
setheadangle()
The function sets the servo motors of the head to the specified angle.
Syntax: setheadangle(Angle = 90)
movehand()
The function sets the servo motors of the humanoid hand to the specified angles at the specified speed.
Syntax: movehand(time = 1000, servo angles = [90,90])
initialisepickplace()
The function sets the ports for the left and right servo motors of a pick-and-place robot.
Syntax: initialisepickplace(left servo = 5, right servo = 4)
reversemotordirection()
The function reverses the forward direction of the specified motor of the Quarky Expansion Board.
Syntax: reversemotordirection(motor port = 1)
math.atanh()
The function is used to calculate the inverse hyperbolic tangent of a given value.
Syntax: math.atanh(x)
roboticArm.moveincircleclockwise()
This function creates a clockwise circle trajectory in the Y plane for a robotic arm, given the center position in the X and Z axes, and the radius of the circle. The function calculates the points on the trajectory and sends instructions to the arm to travel to each point sequentially.
Syntax: roboticArm.moveincircleclockwise(XPOS = 0, ZPOS = 80, RADIUS = 50, YPOS = 180, TIME = 4000)
setirsensor()
This function sets the three pins for IR sensors used in line following for left, middle, and right detection.
Syntax: setirsensor(set_left = ‘D1’, set_middle = ‘D2’, set_right = ‘D3’)
expression()
This function is used to get the expression of the analyzed face. The parameter can be used to select the identifying number of the face whose expression is to be analyzed.
Syntax: expression(face = 1)
setsize()
The function sets its sprite’s size to the specified amount. The default sprite size is 100%; anything lower than that will decrease the size of the sprite on the stage, and anything above will increase the size of the sprite on the stage.
Syntax: setsize(percentage = 100)
setvolumeto()
The function sets its sprite’s volume to the specified amount. It only affects the sprite (or the Stage) that the block is in.
Syntax: setvolumeto(volume = 100)
changesize()
The function changes the pen size by the specified amount.
Syntax: changesize(size = 1)
setbrightness()
The function sets the brightness of the RGB LED display matrix.
Syntax: setbrightness(brightness = 20)
readdigitalsensor()
The function returns the state of the digital sensor connected to the specified pin of the Quarky.
Syntax: readdigitalsensor(digital_pin = “D1”)
stopmotor()
The function stops the specified motor of the Quarky.
Syntax: stopmotor(motor = “L”)
imagefeatureinfo()
The function reports the name/x position/y position/width/height or confidence of the recognized celebrity/brand/object/image tag. If the number is out of range, then the function will return NULL.
Syntax: imagefeatureinfo(feature_type = “object”, number = 1, information = “name”)
printedtextresult()
The function reports the printed text identified from the analysis.
Syntax: printedtextresult()
setopenangle()
The function sets the Quarky Gripper Robot’s gripper servo motor angle for an open position to the specified value.
Syntax: setopenangle(angle = 90)
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Conclusion

In conclusion, PictoBlox is a powerful coding environment that allows you to program the Quarky Mecanum Robot with Python in both Stage and Upload modes. The Quarky Mecanum library provides several functions that can be used to control the robot’s motors, pick–and–place robot, and gripper robot. With the help of PictoBlox, you can easily program and control the Quarky Mecanum robot!

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