Published January 27, 2020 © GPL3+

miCube Alexa Voice Controlled LEGO EV3 Robot

An EV3 multitasking robot that cleans your mess, helps around the house and listens to you.

IntermediateFull instructions provided20 hours2,085

First 100 Submissions

LEGO MINDSTORMS Voice Challenge

miCube Alexa Voice Controlled LEGO EV3 Robot

Things used in this project

Hardware components

LEGO Mindstorms EV3 Programming Brick / Kit

This kit contains key parts to build the robot e.g. motors and EV3 brick, additional parts for the cume shape are Lego Technic parts

Amazon Alexa Echo Dot

This device supports Alexa gadget kit and provides voice capabilities to control the robot

Flash Memory Card, MicroSDHC Card

The Micro SD card is used to store EV3dev code and additional custom instructions

Software apps and online services

Microsoft VS Code

Amazon Alexa Alexa Skills Kit

Amazon Alexa Alexa Gadgets Toolkit

Story

Introduction

How often did you want to sit on your chair and let somebody else bring you something or do the home chores? That mess in the conner of the room and Mom asking you to clean it up every day. Imagine a life when your favorite toy can do it for you and you are in total voice control. And why not have fun and get Santa in town.

What is miCube?

miCube is a multitasking robot designed to do several tasks around the house. It can navigate around by following voice commands, pick up and deliver some objects, clean up a mess and more. It has a secret compartment for a special guest.

It is build using elements of the Lego Education EV3 kit and additional Lego Technic parts for the cube shape. Programming is done on the EV3 Brick with Python 3.

miCube uses two large motors, two medium motors, ultrasonic and colour sensors. Two large motors are used to drive miCube around. One medium motor used to open and close the front grabber mechanism. The grabber mechanism is used to grab and hold various objects, e.g. bottle of water. The second motor is used to open and close the doors for secret a compartment located at the top of the cube. The colour sensor is used to find locations marked with specific colours and the ultrasonic sensor is used for detecting the distance to obstacles.

For the purpose of this competition I have developed the code for three scenarios, however the limit is your imagination and time.

I hope you enjoy miCube and will improve it in the future.

MiCube Video

In the demonstration video I have added the music from YouTube library, it is free to use. The music is not included in to the programming of the miCube. I feel it is more fun to watch the robot with the music.

Building steps

Follow the instructions attached to build miCube and additional elements.

Connect four motors using Mindstorms cables. Left-drive motor to Port B, right-drive motor to port C. Grabber motor to Port D, upper doors motor to Port A. Colour sensor connect to Port 1 and ultrasonic sensor to Port 2.

This project has three additional elements to support different scenarios.

Platform (built out of Lego Technic elements) to keep different subjects for miCube to pick from. The robot can pick up items from the floor, however it does not have lift mechanism and will have to drag an object over the floor. When an object is located on a platform it will be carried over without touching the floor.
Christmas santa sleigh (built out of Lego Technic elements) to keep presents - small objects wrapped in a nice paper.
Santa- this one from under my Christmas tree and you probably have one as well.

Alexa registration and configuration.

Hackster did an excellent job and prepared a step by step guide and training material for Alexa registration. Link to Guide.

Program miCube

1. Download the latest ev3dev image from the ev3dev website. I have experienced numerous challenges until downloaded the latest code.

2. Insert the micro SD card into the computer and flash the image to the card with a program Etcher.

3. Log in to the Alexa voice service developer console Link

4. Click Create Product and fill in the required fields. Select Alexa Gadget as the product type, and No for commercial release and intended for users under 13

5. Download attached code repository (model.json, miCube.pyand, Lambda folder,miCube.ini) files and open the folder containing them in visual studio code. Install ev3dev-browser extension from the execution menu.

6. Open VS Code and then open the location for downloaded files, install the ev3dev-browser extension from the extensions menu.

7. Use VSCode to Open miCube.ini, replace YOUR_GADGET_AMAZON_ID and YOUR_GADGET_SECRET with the ID and Secret generated in the Alexa Voice Service console.

8. Switch on the EV3 brick

9. Navigate to Wireless and Networks, select Bluetooth

10. Enable Powered option

11. The Bluetooth icon should be displayed in the top right corner. If it is not displayed- restart the brick.

12. Connect your brick to the computer using USB cable

13. At this point the brick should be ready.

14. Use VSCode code and with ev3dev browser window click "connect to a device", select your device in the drop down menu. The colour of the dot should change to green when your device is connected.

15. Upload the code to your EV3 brick by clicking on the down arrow on the right of the EV3 Device Browser Menu

16. After the code was uploaded, navigate to micube code, select it and press RUN

I have used mission 4 example code as a foundation and added additional commands to support my project.

Time to play with miCube

There are three missions for the miCube.

Mission 1 - Bring Me My Drink

In this mission the miCube will find, grab and bring back my favorite drink. In this mission the miCube uses the colour sensor to detect which item to bring, the target item used the white strip. The white strip is also used to stop the miCube when it returns to the original position. I realised that the white strip at the start will confuse the robot, so I suggest to place the robot after the white strip. As an alternative change the starting strip colour to any other one that the sensor can detect and update the programming with the colour of your choice.

The goal is to find the bottle and bring it back to the starting point.

The following voice commands starts the mission:

1. Alexa, open mycube

2. Alexa, bring me my drink

3. Alexa response: command bring me my drink activated

4. Alexa response: My master, here is your drink

Mission 2 - Clean My Mess

In this mission the miCube will clean Lego blocks from the floor. The starting point is marked by a white strip. In this mission two sensors are used. Colour sensor to detect start and return points and ultrasonic sensor to detect the distance to the wall or cabinet door in the way and initiate the drive backwards command.

The goal is to push all the Lego blocks under the cabinet.

The following voice commands starts the mission:

1. Alexa, open mycube

2. Alexa Clean my mess

3. Alexa response: command clean my mess activated

4. Alexa response: I cleaned your mess and I am ready for the next task

Mission 3 - Find Santa

This is where the fun part begins.

Let's find Santa, He is in town! In this mission we will search for the Santa, using ultrasonic sensor. miCube will stop in front of the Santa's sleigh and start the dialog with Santa. Several actions will take place, miCube will take the present from the Santa and place it under the Christmas tree, then it will offer Santa milk and a cookie, but only after Santa shares the secret password.

At the end of the mission Alexa will say "Goodbye" to Santa and drive away.

The following voice commands starts the mission:

1. Alexa, open mycube

2. Alexa, find santa

3. Alexa ask: Hi santa. Do you have a present for me?

4. Me: Alexa take the present

5. Alexa response: What is your password

6. Santa: Password is Ho Ho Ho

7. Alexa response: Command password ho ho ho activated

8. Alexa response: Goodbye santa. see you next year

Hope you enjoy the ride with miCube today.

Code

{
  "interactionModel": {
      "languageModel": {
          "invocationName": "mycube",
          "intents": [
              {
                  "name": "AMAZON.CancelIntent",
                  "samples": []
              },
              {
                  "name": "AMAZON.HelpIntent",
                  "samples": []
              },
              {
                  "name": "AMAZON.StopIntent",
                  "samples": []
              },
              {
                  "name": "AMAZON.NavigateHomeIntent",
                  "samples": []
              },
              {
                  "name": "MoveIntent",
                  "slots": [
                      {
                          "name": "Direction",
                          "type": "DirectionType"
                      },
                      {
                          "name": "Duration",
                          "type": "AMAZON.NUMBER"
                      }
                  ],
                  "samples": [
                      "{Direction} now",
                      "{Direction} {Duration} seconds",
                      "move {Direction} for {Duration} seconds"
                  ]
              },
              {
                  "name": "SetSpeedIntent",
                  "slots": [
                      {
                          "name": "Speed",
                          "type": "AMAZON.NUMBER"
                      }
                  ],
                  "samples": [
                      "set speed {Speed} percent",
                      "set {Speed} percent speed",
                      "set speed to {Speed} percent"
                  ]
              },
              {
                  "name": "SetCommandIntent",
                  "slots": [
                      {
                          "name": "Command",
                          "type": "CommandType"
                      }
                  ],
                  "samples": [
                      "activate {Command} mode",
                      "move in a {Command}",
                      "fire {Command}",
                      "activate {Command}"
                  ]
              }
          ],
          "types": [
              {
                  "name": "DirectionType",
                  "values": [
                      {
                          "name": {
                              "value": "brake"
                          }
                      },
                      {
                          "name": {
                              "value": "go backward"
                          }
                      },
                      {
                          "name": {
                              "value": "go forward"
                          }
                      },
                      {
                          "name": {
                              "value": "go right"
                          }
                      },
                      {
                          "name": {
                              "value": "go left"
                          }
                      },
                      {
                          "name": {
                              "value": "right"
                          }
                      },
                      {
                          "name": {
                              "value": "left"
                          }
                      },
                      {
                          "name": {
                              "value": "backwards"
                          }
                      },
                      {
                          "name": {
                              "value": "backward"
                          }
                      },
                      {
                          "name": {
                              "value": "forwards"
                          }
                      },
                      {
                          "name": {
                              "value": "forward"
                          }
                      }
                  ]
              },
              {
                  "name": "CommandType",
                  "values": [
                      {
                          "name": {
                              "value": "grabber close"
                          }
                      },
                      {
                          "name": {
                              "value": "take the present"
                          }
                      },
                      {
                          "name": {
                              "value": "find Santa"
                          }
                      },
                      {
                          "name": {
                              "value": "clean my mess"
                          }
                      },
                      {
                          "name": {
                              "value": "grab the object"
                          }
                      },
                      {
                          "name": {
                              "value": "bring me my drink"
                          }
                      },
                      {
                          "name": {
                              "value": "the password is hohoho"
                          }
                      },
                      {
                          "name": {
                              "value": "thank you for the cookies and milk"
                          }
                      },
                      {
                          "name": {
                              "value": "grabber open"
                          }
                      }
                  ]
              }
          ]
      }
  }
}

#!/usr/bin/env python3
# Copyright 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
# 
# You may not use this file except in compliance with the terms and conditions 
# set forth in the accompanying LICENSE.TXT file.
#
# THESE MATERIALS ARE PROVIDED ON AN "AS IS" BASIS. AMAZON SPECIFICALLY DISCLAIMS, WITH 
# RESPECT TO THESE MATERIALS, ALL WARRANTIES, EXPRESS, IMPLIED, OR STATUTORY, INCLUDING 
# THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT.

import os
import sys
import time
import logging
import json
import random
from enum import Enum
from agt import AlexaGadget
from ev3dev2.led import Leds
from ev3dev2.sound import Sound
from ev3dev2.motor import OUTPUT_A, OUTPUT_B, OUTPUT_C,OUTPUT_D, MoveTank, SpeedPercent, MediumMotor
from ev3dev2.sensor.lego import UltrasonicSensor, ColorSensor

# Set the logging level to INFO to see messages from AlexaGadget
logging.basicConfig(level=logging.INFO, stream=sys.stdout, format='%(message)s')
logging.getLogger().addHandler(logging.StreamHandler(sys.stderr))
logger = logging.getLogger(__name__)


class Direction(Enum):
    """
    The list of directional commands and their variations.
    These variations correspond to the skill slot values.
    """
    FORWARD = ['forward', 'forwards', 'go forward']
    BACKWARD = ['back', 'backward', 'backwards', 'go backward']
    LEFT = ['left', 'go left']
    RIGHT = ['right', 'go right']
    STOP = ['brake', 'halt']


class Command(Enum):
    """
    The list of preset commands and their invocation variation.
    These variations correspond to the skill slot values.
    """
    
    OBJECT_GRABBER = ['grab the object']
    GRABBER_OPEN = ['grabber open']
    GRABBER_CLOSE = ['grabber close']
    CAN_GRABBER = ['bring me my drink']
    MESS = ['clean my mess']
    FIND_SANTA = ['find Santa']
    PRESENT = ['take the present']
    PASSWORD = ['the password is hohoho']
    COOKIES = ['thank you for the cookies and milk']

class EventName(Enum):
    """
    The list of custom event name sent from this gadget
    """
    SPEECH = "Speech"


class MindstormsGadget(AlexaGadget):
    """
    A Mindstorms gadget that can perform bi-directional interaction with an Alexa skill.
    """

    def __init__(self):
        """
        Performs Alexa Gadget initialization routines and ev3dev resource allocation.
        """
        super().__init__()

        # Connect two large motors on output ports B and C
        # Connect two Medium motors on output ports A and D
        # Connect Ultrasonic and Colour sensors into any ports

        self.drive = MoveTank(OUTPUT_B, OUTPUT_C)
        self.plateLifter = MediumMotor(OUTPUT_A)
        self.grabber = MediumMotor(OUTPUT_D)
        self.sound = Sound()
        self.leds = Leds()
        self.us = UltrasonicSensor()
        self.cs = ColorSensor()

    def on_connected(self, device_addr):
        """
        Gadget connected to the paired Echo device.
        :param device_addr: the address of the device we connected to
        """
        self.leds.set_color("LEFT", "GREEN")
        self.leds.set_color("RIGHT", "GREEN")
        logger.info("{} connected to Echo device".format(self.friendly_name))

    def on_disconnected(self, device_addr):
        """
        Gadget disconnected from the paired Echo device.
        :param device_addr: the address of the device we disconnected from
        """
        self.leds.set_color("LEFT", "BLACK")
        self.leds.set_color("RIGHT", "BLACK")
        logger.info("{} disconnected from Echo device".format(self.friendly_name))

    def on_custom_mindstorms_gadget_control(self, directive):
        """
        Handles the Custom.Mindstorms.Gadget control directive.
        :param directive: the custom directive with the matching namespace and name
        """
        try:
            payload = json.loads(directive.payload.decode("utf-8"))
            print("Control payload: {}".format(payload), file=sys.stderr)
            control_type = payload["type"]
            if control_type == "move":

                # Expected params: [direction, duration, speed]
                self._move(payload["direction"], int(payload["duration"]), int(payload["speed"]))

            if control_type == "command":
                # Expected params: [command]
                self._activate(payload["command"])

        except KeyError:
            print("Missing expected parameters: {}".format(directive), file=sys.stderr)

    def _move(self, direction, duration: int, speed: int, is_blocking=False):
        """
        Handles move commands from the directive.
        Right and left movement can under or over turn depending on the surface type.
        :param direction: the move direction
        :param duration: the duration in seconds
        :param speed: the speed percentage as an integer
        :param is_blocking: if set, motor run until duration expired before accepting another command
        """
        print("Move command: ({}, {}, {}, {})".format(direction, speed, duration, is_blocking), file=sys.stderr)
        if direction in Direction.FORWARD.value:
            self.drive.on_for_seconds(SpeedPercent(speed), SpeedPercent(speed), duration, block=is_blocking)

        if direction in Direction.BACKWARD.value:
            self.drive.on_for_seconds(SpeedPercent(-speed), SpeedPercent(-speed), duration, block=is_blocking)

        if direction in (Direction.RIGHT.value + Direction.LEFT.value):
            self._turn(direction, speed)
            self.drive.on_for_seconds(SpeedPercent(speed), SpeedPercent(speed), duration, block=is_blocking)

        if direction in Direction.STOP.value:
            self.drive.off()
            self.patrol_mode = False

    def _activate(self, command, speed=50):
        """
        Handles preset commands.
        :param command: the preset command
        :param speed: the speed if applicable
        """

        #Variable assignment for the various functions
        forwardSpeed = 20
        reverseSpeed = -20
        proxCount1 = 0
        proxCount2 = 0
        proxCount3 = 0
        rotationsGrabberOpenPresentFully = 9
        rotationsGrabberClosePresentFully = -9
        rotationsGrabberClosePresent = -4
        rotationsGrabberOpenPresent = 4
        rotationsPO = 24
        rotationsPC = -24
        speedP = 60
        Rotate180SpeedLeft = 20
        Rotate180SpeedRight =  -20
        self.cs.mode='COL-COLOR'
        colors=('unknown','black','blue','green','yellow','red','white','brown')
        colourCount1 = 0
        colourCount2 = 0
        colourCount3 = 0
        loopCount = 0
        speedG = 40
        rotationsGrabberOpenFull = 13
        rotationsGrabberCloseFull = -13
        self.us.mode='US-DIST-CM'
        units = self.us.units
        distance = self.us.value()/10
        rotationsGrabberCanOpen = 8
        rotationsGrabberCanClose = 6
        rotationsGrabberObjectOpen = 9
        rotationsGrabberObjectClose = 6

        print("Activate command: ({}, {})".format(command, speed), file=sys.stderr)

        if command in Command.GRABBER_OPEN.value:
            #opens the front grabber 
            self.grabber.on_for_degrees(SpeedPercent(speedG),360*rotationsGrabberOpenFull)
        
        if command in Command.GRABBER_CLOSE.value:
            #closes the front grabber
            self.grabber.on_for_degrees(SpeedPercent(speedG),360*rotationsGrabberCloseFull)
            
        if command in Command.OBJECT_GRABBER.value:
            #grabs an object on the stage
            self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberObjectOpen) #open grabber
            self.drive.on_for_degrees(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed), 360) #drive forward
            self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberObjectClose) #close the grabber
            self.drive.on_for_degrees(SpeedPercent(reverseSpeed), SpeedPercent(reverseSpeed), 360) #reverse
            self.drive.on_for_degrees(SpeedPercent(Rotate180SpeedLeft), SpeedPercent(Rotate180SpeedRight), 360-25) #turn 180 degrees
            self.drive.on_for_degrees(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed), 360) #drive forward
            self.grabber.on_for_degrees(SpeedPercent(speedG), 360*-rotationsGrabberObjectClose) #open grabber 6 rotations
            self.drive.on_for_degrees(SpeedPercent(reverseSpeed), SpeedPercent(reverseSpeed), 360) #reverse
            self.grabber.on_for_degrees(SpeedPercent(speedG), 360*-rotationsGrabberObjectOpen) #close grabber completely
            self._send_event(EventName.SPEECH, {'speechOut': "My master here is your object"})

        if command in Command.CAN_GRABBER.value:
            #grabs a drink from the stage using a colour sensor and predefined distance

            ###COLOUR SENSE FUNCTIONS###
            while colourCount1 == 0:
                if colors[self.cs.value()] != 'white' and colourCount1 == 0:
                    self.drive.on(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed))
    
                else:
                    colourCount1 = 1
                    self.drive.on(SpeedPercent(0), SpeedPercent(0))
                    self.drive.on_for_degrees(SpeedPercent(Rotate180SpeedRight), SpeedPercent(Rotate180SpeedLeft), (360-25)/2)
                    self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberCanOpen)
                    self.drive.on_for_degrees(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed), 360) #drive forward
                    self.grabber.on_for_degrees(SpeedPercent(speedG), 360*-rotationsGrabberCanClose)
                    self.drive.on_for_degrees(SpeedPercent(reverseSpeed), SpeedPercent(reverseSpeed), 360) #drive back
                    self.drive.on_for_degrees(SpeedPercent(Rotate180SpeedRight), SpeedPercent(Rotate180SpeedLeft), (360-25)/2)


            while colourCount2 == 0:
                if colors[self.cs.value()] != 'white' and colourCount2 == 0:
                    self.drive.on(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed))
                else:
                    colourCount2 = 1
                    self.drive.on(SpeedPercent(0), SpeedPercent(0))
                    self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberCanClose)
                    self.drive.on_for_degrees(SpeedPercent(reverseSpeed), SpeedPercent(reverseSpeed), 360) #drive back
                    self.grabber.on_for_degrees(SpeedPercent(speedG), 360*-rotationsGrabberCanOpen)
                    self._send_event(EventName.SPEECH, {'speechOut': "My master, here is your drink"})

        if command in Command.MESS.value:
            #cleans the mess using the ultrasonic sensor and the colour sensor
            while loopCount == 0:
                    while colourCount1 == 0:
                        if colors[self.cs.value()] != 'white' and colourCount1 == 0:
                            self.drive.on(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed))
                        else:
                            colourCount1 = 1
                            self.drive.on(SpeedPercent(0), SpeedPercent(0))
                            self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberOpenFull)

                    while proxCount1 == 0:
                        self.us.mode='US-DIST-CM'
                        units = self.us.units
                        distance = self.us.value()/10
                        if distance > 5 and proxCount1 == 0:
                            self.drive.on(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed))
                        else:
                            proxCount1 = 1
                            self.drive.on(SpeedPercent(0), SpeedPercent(0))
                    while colourCount2 == 0:
                        if colors[self.cs.value()] != 'white' and colourCount2 == 0:
                            self.drive.on(SpeedPercent(reverseSpeed), SpeedPercent(reverseSpeed))
                        else:
                            colourCount2 = 1
                            self.drive.on(SpeedPercent(0), SpeedPercent(0))
                            self.drive.on_for_degrees(SpeedPercent(Rotate180SpeedLeft), SpeedPercent(Rotate180SpeedRight), (360-25)/2)
                    while proxCount2 == 0:
                        self.us.mode='US-DIST-CM'
                        units = self.us.units
                        distance = self.us.value()/10
                        if distance > 23 and proxCount2 == 0:
                            self.drive.on(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed))
                        else:
                            proxCount2 =1
                            self.drive.on(SpeedPercent(0), SpeedPercent(0))
                            self.drive.on_for_degrees(SpeedPercent(Rotate180SpeedRight), SpeedPercent(Rotate180SpeedLeft), (360-25)/2)
                    while proxCount3 == 0:
                        self.us.mode='US-DIST-CM'
                        units = self.us.units
                        distance = self.us.value()/10
                        if distance > 5 and proxCount3 == 0:
                           self.drive.on(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed))
                        else:
                            proxCount3 =1
                            self.drive.on(SpeedPercent(0), SpeedPercent(0))
                    while colourCount3 == 0:
                        if colors[self.cs.value()] != 'white' and colourCount3 == 0:
                            self.drive.on(SpeedPercent(reverseSpeed), SpeedPercent(reverseSpeed))
                        else:
                            colourCount3 = 1
                            self.drive.on(SpeedPercent(0), SpeedPercent(0))
                            self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberCloseFull)
                            self.drive.on_for_degrees(SpeedPercent(Rotate180SpeedRight), SpeedPercent(Rotate180SpeedLeft), 360-25)
                            loopCount = 1

            self._send_event(EventName.SPEECH, {'speechOut': "I cleaned your mess and i am ready for the next task"})
        
        if command in Command.FIND_SANTA.value:
            #finds "santa" using the ultrasonic sensor and some predefined movements
            proxCount1 = 0
            while proxCount1 == 0:
                self.us.mode='US-DIST-CM'
                units = self.us.units
                distance = self.us.value()/10
                if distance > 22 and proxCount1 == 0:
                    self.drive.on(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed))
                else:
                    proxCount1 =1
                    self.drive.on(SpeedPercent(0), SpeedPercent(0))
                    self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberOpenPresentFully)
                    self._send_event(EventName.SPEECH, {'speechOut': "Hi santa. Do you have a present for me?"})

        if command in Command.PRESENT.value:
            #grabs the present using the ultrasonic sensor and puts it under the tree with predefined movements
            proxCount2 = 0
            while proxCount2 == 0:
                self.us.mode='US-DIST-CM'
                units = self.us.units
                distance = self.us.value()/10
                if distance > 15 and proxCount2 == 0:
                    self.drive.on(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed))
                else:
                    proxCount2 = 1
                    self.drive.on(SpeedPercent(0), SpeedPercent(0))
                    self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberClosePresent)
                    self.drive.on_for_degrees(SpeedPercent(reverseSpeed), SpeedPercent(reverseSpeed), 360)
                    self.drive.on_for_degrees(SpeedPercent(Rotate180SpeedLeft), SpeedPercent(Rotate180SpeedRight), (360-25)/2)
                    self.drive.on_for_degrees(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed), 400)
                    self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberOpenPresent)
                    self.drive.on_for_degrees(SpeedPercent(reverseSpeed), SpeedPercent(reverseSpeed), 400)
                    self.grabber.on_for_degrees(SpeedPercent(speedG), 360*rotationsGrabberClosePresentFully)
                    self.drive.on_for_degrees(SpeedPercent(Rotate180SpeedRight), SpeedPercent(Rotate180SpeedLeft), (360-25)/2)
            self._send_event(EventName.SPEECH, {'speechOut': "What is your password?"})

        if command in Command.PASSWORD.value:
            #opens the hidden compartment and lifts the plate with cookies and milk
            self.plateLifter.on_for_degrees(SpeedPercent(speedP), 360*rotationsPC)

        if command in Command.COOKIES.value:
            #closes the compartment, says goodbye to "santa" and drives away
            self.plateLifter.on_for_degrees(SpeedPercent(speedP), 360*rotationsPO)
            self.drive.on_for_degrees(SpeedPercent(Rotate180SpeedRight), SpeedPercent(Rotate180SpeedLeft), 360-25)
            self._send_event(EventName.SPEECH, {'speechOut': "Goodbye santa. see you next year"})
            self.drive.on_for_degrees(SpeedPercent(forwardSpeed), SpeedPercent(forwardSpeed), 360*2)

    def _turn(self, direction, speed):
        """
        Turns based on the specified direction and speed.
        Calibrated for hard smooth surface.
        :param direction: the turn direction
        :param speed: the turn speed
        """
        if direction in Direction.LEFT.value:
            self.drive.on_for_seconds(SpeedPercent(0), SpeedPercent(speed), 2)

        if direction in Direction.RIGHT.value:
            self.drive.on_for_seconds(SpeedPercent(speed), SpeedPercent(0), 2)

    def _send_event(self, name: EventName, payload):
        """
        Sends a custom event to trigger a sentry action.
        :param name: the name of the custom event
        :param payload: the sentry JSON payload
        """
        self.send_custom_event('Custom.Mindstorms.Gadget', name.value, payload)


if __name__ == '__main__':

    gadget = MindstormsGadget()

    # Set LCD font and turn off blinking LEDs
    os.system('setfont Lat7-Terminus12x6')
    gadget.leds.set_color("LEFT", "BLACK")
    gadget.leds.set_color("RIGHT", "BLACK")

    # Startup sequence
    gadget.sound.play_song((('C4', 'e'), ('D4', 'e'), ('E5', 'q')))
    gadget.leds.set_color("LEFT", "GREEN")
    gadget.leds.set_color("RIGHT", "GREEN")

    # Gadget main entry point
    gadget.main()

    # Shutdown sequence
    gadget.sound.play_song((('E5', 'e'), ('C4', 'e')))
    gadget.leds.set_color("LEFT", "BLACK")
    gadget.leds.set_color("RIGHT", "BLACK")

# Copyright 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
# 
# You may not use this file except in compliance with the terms and conditions 
# set forth in the accompanying LICENSE.TXT file.
#
# THESE MATERIALS ARE PROVIDED ON AN "AS IS" BASIS. AMAZON SPECIFICALLY DISCLAIMS, WITH 
# RESPECT TO THESE MATERIALS, ALL WARRANTIES, EXPRESS, IMPLIED, OR STATUTORY, INCLUDING 
# THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT.

[GadgetSettings]
amazonId = YOUR_GADGET_AMAZON_ID
alexaGadgetSecret = YOUR_GADGET_SECRET

[GadgetCapabilities]
Custom.Mindstorms.Gadget = 1.0

Credits

Michael Petoukhov

1 project • 1 follower

I am a Lego Technic fan and YouTuber. YouTube helps me share my custom built projects.

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First 100 Submissions

LEGO MINDSTORMS Voice Challenge

miCube Alexa Voice Controlled LEGO EV3 Robot

Things used in this project

Hardware components

Software apps and online services

Story

Introduction

What is miCube?

MiCube Video

Building steps

Program miCube

Time to play with miCube

Hope you enjoy the ride with miCube today.

Schematics

Stage

Cube

Chassis

Sleigh

Code

Model.json

Lambda folder

miCude main program code

INI File

Credits

Michael Petoukhov

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Embed the widget on your own site

miCube Alexa Voice Controlled LEGO EV3 Robot

miCube Alexa Voice Controlled LEGO EV3 Robot

Things used in this project

Hardware components

Software apps and online services

Story

Introduction

What is miCube?

MiCube Video

Building steps

Program miCube

Time to play with miCube

Hope you enjoy the ride with miCube today.

Schematics

Stage

Cube

Chassis

Sleigh

Code

Model.json

Lambda folder

miCude main program code

INI File

Credits

Michael Petoukhov

Comments

Awards

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