Krishna Vemuri
Published © GPL3+

Christmas Ornaments Sorter

Christmas Ornament Sorter is build on the educator bot for EV3 set #45544 and Alexa Echo Dot to sort ornaments.

IntermediateProtip5 hours301

Things used in this project

Hardware components

LEGO MindStorms LEGO® MINDSTORMS® Education EV3 Core Set
×2
Echo Dot
Amazon Alexa Echo Dot
×1

Software apps and online services

ev3dev EV3 re-imagined Linux
Node.js
Alexa Voice Service
Amazon Alexa Alexa Voice Service
Microsoft Visual Studio Code

Story

Read more

Custom parts and enclosures

Ornament Sorter CAD

This is the CAD file for the Ornament Sorter. You open it with the LeoCad software, and you can view the cad.

Base Model

This is the educator bot pdf building instructions. This is the first step to build the Ornament Sorter. Right motor gets connected to C port, and left motor gets connected to B port.

Schematics

Demo Video

Video to demonstrate bi-directional interaction between EV3 and Amazon Skill.

Working Image 01

Working Image 02

Working Image 03

Working Image 04

Base Model

This is the instructions for the EV3 educator bot. The ornament sorter is based off this design. To build the Ornament Sorter, you have to build this first. Right motor gets connected to C port, and Left motor gets connected to B port.

Ornament claw attachment

This tells you how to build the attachment for the ornament claw. I used an idea from The Lego Mindstorms EV3 Idea Book by Yoshihito Isogawa, idea #139. I worked to make the claw better, I also added the color sensor, and made the mechanism better. The medium motor gets wired to A port, and the color sensor gets connected to the 3 port.

Putting together and FINAL

This tells you how to put the attachment and the educator bot together. The first step shows the models, and the steps after that tell you how to attach both together. The end is also the final model shown in the video. There are no wires because it does not work in the CAD software.

Code

mission-Main.ini

Python
Configuration File. Include Amazon ID and Gadget Secret Code
# 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 AMAZON ID>>
alexaGadgetSecret = <<YOUR GADGET SECRET ID>>

[GadgetCapabilities]
Custom.Mindstorms.Gadget = 1.0

model.json

JSON
JSON File to build Intents and Slots for Alexa Skills
{
    "interactionModel": {
        "languageModel": {
            "invocationName": "ornament sorter",
            "intents": [
                {
                    "name": "AMAZON.CancelIntent",
                    "samples": []
                },
                {
                    "name": "AMAZON.HelpIntent",
                    "samples": []
                },
                {
                    "name": "AMAZON.StopIntent",
                    "samples": []
                },
                {
                    "name": "AMAZON.NavigateHomeIntent",
                    "samples": []
                },
                {
                    "name": "SetSortIntent",
                    "slots": [
                        {
                            "name": "Command",
                            "type": "CommandType"
                        }
                    ],
                    "samples": [
                        "open {Command}",
                        "start {Command} mode",
                        "start {Command}",
                        "activate {Command} mode",
                        "activate {Command}"
                    ]
                }
            ],
            "types": [
                {
                    "name": "CommandType",
                    "values": [
                        {
                            "name": {
                                "value": "sorter"
                            }
                        }
                    ]
                }
            ]
        }
    }
}

index.js

JavaScript
Node.JS file for Alexa Skills to handle Intents
const Alexa = require('ask-sdk-core');
const Util = require('./util');
const Common = require('./common');

// The namespace of the custom directive to be sent by this skill
const NAMESPACE = 'Custom.Mindstorms.Gadget';

// The name of the custom directive to be sent this skill
const NAME_CONTROL = 'control';

const LaunchRequestHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'LaunchRequest';
    },
    handle: async function(handlerInput) {

        const request = handlerInput.requestEnvelope;
        const { apiEndpoint, apiAccessToken } = request.context.System;
        const apiResponse = await Util.getConnectedEndpoints(apiEndpoint, apiAccessToken);
        if ((apiResponse.endpoints || []).length === 0) {
            return handlerInput.responseBuilder
            .speak(`I couldn't find an EV3 Brick connected to this Echo device. Please check to make sure your EV3 Brick is connected, and try again.`)
            .getResponse();
        }

        // Store the gadget endpointId to be used in this skill session
        const endpointId = apiResponse.endpoints[0].endpointId || [];
        Util.putSessionAttribute(handlerInput, 'endpointId', endpointId);

        // Set skill duration to 5 minutes (ten 30-seconds interval)
        Util.putSessionAttribute(handlerInput, 'duration', 10);

        // Set the token to track the event handler
        const token = handlerInput.requestEnvelope.request.requestId;
        Util.putSessionAttribute(handlerInput, 'token', token);

        let speechOutput = "Welcome to Christmas Ornament Sorter. An unique Lego EV3 brick model to sort Christmas ornaments. What would you like to do?";
        return handlerInput.responseBuilder
            .speak(speechOutput)
            .addDirective(Util.buildStartEventHandler(token,60000, {}))
            .reprompt()
            .getResponse();
    }
};


const SetSortIntentHandler = {
     canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
            && Alexa.getIntentName(handlerInput.requestEnvelope) === 'SetSortIntent';
    },
    handle: function (handlerInput) {

        let command = Alexa.getSlotValue(handlerInput.requestEnvelope, 'Command');
        if (!command) {
            return handlerInput.responseBuilder
                .speak("Can you repeat that?")
                .withShouldEndSession(false)
                .getResponse();
        }

        const attributesManager = handlerInput.attributesManager;
        let endpointId = attributesManager.getSessionAttributes().endpointId || [];
        let speed = attributesManager.getSessionAttributes().speed || "50";

        // Construct the directive with the payload containing the move parameters
        let directive = Util.build(endpointId, NAMESPACE, NAME_CONTROL,
            {
                type: 'command',
                command: command,
                speed: speed
            });

        let speechOutput = `command ${command} activated.`;
        return handlerInput.responseBuilder
            .speak(speechOutput)
            .addDirective(directive)
            .getResponse();
    }
};

const EventsReceivedRequestHandler = {
    // Checks for a valid token and endpoint.
    canHandle(handlerInput) {
        let { request } = handlerInput.requestEnvelope;
        console.log('Request type: ' + Alexa.getRequestType(handlerInput.requestEnvelope));
        if (request.type !== 'CustomInterfaceController.EventsReceived') return false;

        const attributesManager = handlerInput.attributesManager;
        let sessionAttributes = attributesManager.getSessionAttributes();
        let customEvent = request.events[0];

        // Validate event token
        if (sessionAttributes.token !== request.token) {
            console.log("Event token doesn't match. Ignoring this event");
            return false;
        }

        // Validate endpoint
        let requestEndpoint = customEvent.endpoint.endpointId;
        if (requestEndpoint !== sessionAttributes.endpointId) {
            console.log("Event endpoint id doesn't match. Ignoring this event");
            return false;
        }
        return true;
    },
    handle(handlerInput) {

        console.log("== Received Custom Event ==");
        let customEvent = handlerInput.requestEnvelope.request.events[0];
        let payload = customEvent.payload;
        let name = customEvent.header.name;

        let speechOutput;
        if (name === 'Speech') {
            speechOutput = payload.speechOut;

        } else {
            speechOutput = "Event not recognized. Awaiting new command.";
        }
        return handlerInput.responseBuilder
            .speak(speechOutput, "REPLACE_ALL")
            .getResponse();
    }
};

const ExpiredRequestHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'CustomInterfaceController.Expired'
    },
    handle(handlerInput) {
        console.log("== Custom Event Expiration Input ==");

        // Set the token to track the event handler
        const token = handlerInput.requestEnvelope.request.requestId;
        Util.putSessionAttribute(handlerInput, 'token', token);

        const attributesManager = handlerInput.attributesManager;
        let duration = attributesManager.getSessionAttributes().duration || 0;
        if (duration > 0) {
            Util.putSessionAttribute(handlerInput, 'duration', --duration);

            // Extends skill session
            const speechOutput = `${duration} minutes remaining.`;
            return handlerInput.responseBuilder
                .addDirective(Util.buildStartEventHandler(token, 60000, {}))
                .speak(speechOutput)
                .getResponse();
        }
        else {
            // End skill session
            return handlerInput.responseBuilder
                .speak("Skill duration expired. Goodbye.")
                .withShouldEndSession(true)
                .getResponse();
        }
    }
};

exports.handler = Alexa.SkillBuilders.custom()
    .addRequestHandlers(
        LaunchRequestHandler,
        SetSortIntentHandler,
        EventsReceivedRequestHandler,
        ExpiredRequestHandler,
        Common.HelpIntentHandler,
        Common.CancelAndStopIntentHandler,
        Common.SessionEndedRequestHandler,
        Common.IntentReflectorHandler, // make sure IntentReflectorHandler is last so it doesn't override your custom intent handlers
    )
    .addErrorHandlers(
        Common.ErrorHandler,
    )
    .lambda();

util.js

JavaScript
Node.JS file
No preview (download only).

common.js

JavaScript
Node.JS file to handle common Alexa Intents
/*
 * 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.
*/
'use strict'

const Alexa = require('ask-sdk-core');
const Util = require('./util');

const HelpIntentHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
            && Alexa.getIntentName(handlerInput.requestEnvelope) === 'AMAZON.HelpIntent';
    },
    handle(handlerInput) {
        const speakOutput = 'You can say hello to me! How can I help?';

        return handlerInput.responseBuilder
            .speak(speakOutput)
            .reprompt(speakOutput)
            .getResponse();
    }
};
const CancelAndStopIntentHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest'
            && (Alexa.getIntentName(handlerInput.requestEnvelope) === 'AMAZON.CancelIntent'
                || Alexa.getIntentName(handlerInput.requestEnvelope) === 'AMAZON.StopIntent');
    },
    handle(handlerInput) {
        const speakOutput = '';
        Util.putSessionAttribute(handlerInput, 'duration', 0);
        return handlerInput.responseBuilder
            .speak(speakOutput)
            .getResponse();
    }
};
const SessionEndedRequestHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'SessionEndedRequest';
    },
    handle(handlerInput) {
        // Any cleanup logic goes here.
        return handlerInput.responseBuilder.getResponse();
        
        
    }
};

// The intent reflector is used for interaction model testing and debugging.
// It will simply repeat the intent the user said. You can create custom handlers
// for your intents by defining them above, then also adding them to the request
// handler chain below.
const IntentReflectorHandler = {
    canHandle(handlerInput) {
        return Alexa.getRequestType(handlerInput.requestEnvelope) === 'IntentRequest';
    },
    handle(handlerInput) {
        const intentName = Alexa.getIntentName(handlerInput.requestEnvelope);
        const speakOutput = `You just triggered ${intentName}`;

        return handlerInput.responseBuilder
            .speak(speakOutput)
            .reprompt("I don't understand this command, try again")
            .getResponse();
    }
};

// Generic error handling to capture any syntax or routing errors. If you receive an error
// stating the request handler chain is not found, you have not implemented a handler for
// the intent being invoked or included it in the skill builder below.
const ErrorHandler = {
    canHandle() {
        return true;
    },
    handle(handlerInput, error) {
        console.log(`~~~~ Error handled: ${error.stack}`);
        const speakOutput = `Sorry, I had trouble doing what you asked. Please try again.`;

        return handlerInput.responseBuilder
            .speak(speakOutput)
            .reprompt(speakOutput)
            .getResponse();
    }
};

// The request interceptor is used for request handling testing and debugging.
// It will simply log the request in raw json format before any processing is performed.
const RequestInterceptor = {
    process(handlerInput) {
        let { attributesManager, requestEnvelope } = handlerInput;
        let sessionAttributes = attributesManager.getSessionAttributes();

        // Log the request for debug purposes.
        console.log(`=====Request==${JSON.stringify(requestEnvelope)}`);
        console.log(`=========SessionAttributes==${JSON.stringify(sessionAttributes, null, 2)}`);
    }
};

module.exports = {
    HelpIntentHandler,
    CancelAndStopIntentHandler,
    SessionEndedRequestHandler,
    IntentReflectorHandler,
    ErrorHandler,
    RequestInterceptor
};

mission-Main.py

Python
This is the python file for the ornament sorter.
#!/usr/bin/env python3
# Copyright 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
# Made by Krishna Vemuri last update 12/25/19
import os
import sys
import time
import logging
import json
import random
import threading

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, MoveTank, SpeedPercent, MediumMotor
from ev3dev2.sensor.lego import 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 Command(Enum):
    """
    The list of preset commands and their invocation variation.
    These variations correspond to the skill slot values.
    """
    SORT = ['sorter']

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 = ['stop', 'brake', 'halt']
    
class EventName(Enum):
    """
    The list of custom event name sent from this gadget
    """
    SORT = "Sort"
    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
        self.drive = MoveTank(OUTPUT_B, OUTPUT_C)
        self.lift = MediumMotor(OUTPUT_A)
        self.sound = Sound()
        self.leds = Leds()
        self.cs = ColorSensor()
        self.cs.mode = 'COL-COLOR'

    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")
        self.lift.on_for_rotations(SpeedPercent(20), 1)
        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 == "command":
                # Expected params: [command]
                self._activate(payload["command"])

        except KeyError:
            print("Missing expected parameters: {}".format(directive))

    def _activate(self, command, speed=50):
        """
        Handles preset commands.
        :param command: the preset command
        :param speed: the speed if applicable
        """
        print("Activate command: ({}, {})".format(command, speed), file=sys.stderr)
        
        if command in Command.SORT.value:
                                   
            self.lift.on_for_rotations(SpeedPercent(20), -1)
            time.sleep(0.3)
            
            if(int (self.cs.value())==5):
                threading.Thread(target=self._send_event(EventName.SPEECH, {'speechOut': "Just sorted red colored ornament"}), daemon=True).start()
                logger.info("Color is Red, {}".format(self.cs.value()))
                time.sleep(1)
                self._move('forward', 2, speed, is_blocking=True)
                time.sleep(0.3)
                self._move('right', 1, 20, is_blocking=True)
                self._move('forward', 2, speed, is_blocking=True)
                time.sleep(0.3)
                self.lift.on_for_rotations(SpeedPercent(20), 1)
                self._move('backward', 2, speed, is_blocking=True)
                self.lift.on_for_rotations(SpeedPercent(20), -1)
                self._move('left', 1, 20, is_blocking=True)
                self._move('backward', 2, speed, is_blocking=True)
                self.lift.on_for_rotations(SpeedPercent(20), 1)
            elif(int (self.cs.value())==6):
                threading.Thread(target=self._send_event(EventName.SPEECH, {'speechOut': "Just sorted white colored ornament"}), daemon=True).start()
                logger.info("Color is White, {}".format(self.cs.value()))
                time.sleep(1)
                self._move('forward', 4, speed, is_blocking=True)
                time.sleep(0.3)
                self.lift.on_for_rotations(SpeedPercent(20), 1)
                self._move('backward', 2, speed, is_blocking=True)
                self.lift.on_for_rotations(SpeedPercent(20), -1)
                self._move('backward', 2, speed, is_blocking=True)
                self.lift.on_for_rotations(SpeedPercent(20), 1)
            elif(int (self.cs.value())==2):
                threading.Thread(target=self._send_event(EventName.SPEECH, {'speechOut': "Just sorted blue colored ornament"}), daemon=True).start()
                logger.info("Color is Blue, {}".format(self.cs.value()))
                time.sleep(1)
                self._move('forward', 2, speed, is_blocking=True)
                time.sleep(0.3)
                self._move('left', 1, 20, is_blocking=True)
                self._move('forward', 2, speed, is_blocking=True)
                time.sleep(0.3)
                self.lift.on_for_rotations(SpeedPercent(20), 1)
                self._move('backward', 2, speed, is_blocking=True)
                self.lift.on_for_rotations(SpeedPercent(20), -1)
                self._move('right', 1, 20, is_blocking=True)
                self._move('backward', 2, speed, is_blocking=True)
                self.lift.on_for_rotations(SpeedPercent(20), 1)
                   
            
            # Indicate readiness through LEDs
            self.leds.set_color("LEFT", "YELLOW", 1)
            self.leds.set_color("RIGHT", "YELLOW", 1)
            time.sleep(0.3)
          
    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)

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

    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")

package.json

JSON
{
  "name": "agt-mindstorms",
  "version": "1.1.0",
  "description": "A sample skill demonstrating how to use AGT with Lego Mindstorms",
  "main": "index.js",
  "scripts": {
    "test": "echo \"Error: no test specified\" && exit 1"
  },
  "author": "Amazon Alexa",
  "license": "ISC",
  "dependencies": {
    "ask-sdk-core": "^2.6.0",
    "ask-sdk-model": "^1.18.0",
    "aws-sdk": "^2.326.0",
    "request": "^2.81.0",
    "lodash": "^4.17.11"
  }
}

Credits

Krishna Vemuri

Krishna Vemuri

1 project • 1 follower

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