From 18dcbeb506766c7f2c4c09611312cba3cb1e77bd Mon Sep 17 00:00:00 2001
From: Ruben Seitz <2211567@stud.hs-mannheim.de>
Date: Thu, 15 Jan 2026 13:32:46 +0100
Subject: [PATCH] 1.00 on god frfr

---
 src/main.llsp3 | 48 +++++++++++++-----------------------------------
 1 file changed, 13 insertions(+), 35 deletions(-)

diff --git a/src/main.llsp3 b/src/main.llsp3
index 30a9e87..8a0da4c 100644
--- a/src/main.llsp3
+++ b/src/main.llsp3
@@ -6,20 +6,6 @@ import sys
 import runloop
 import time
 
-# Implementation of Basic operations and misc. ##############################################
-
-# await mp.move_for_degrees(mp.PAIR_1, 360, 45, velocity=280)
-
-# motor.run_for_degrees(portNum, 200, 300)
-# await runloop.sleep_ms(2000)
-
-# mp.move_tank(mp.PAIR_1, 280, -280)
-# await runloop.sleep_ms(2000)
-
-# WANTED_COLOR = color.BLACK
-
-# Productive Code ###########################################################################
-
 BLACK = 0
 GREEN = 6
 WHITE = 10
@@ -56,7 +42,7 @@ async def avoid_obstacle(speed=100):
         mp.move_tank(mp.PAIR_1, -speed, -speed)
     while cs.color(port.B) != BLACK:
         mp.move_tank(mp.PAIR_1, 10, -110)
-    #await turn_right(85)
+
 async def move_on_color():
     won = False
     speed = 100
@@ -65,7 +51,6 @@ async def move_on_color():
     last_seen_black = ""
 
     old = time.ticks_ms()
-    # print("initial old: " + str(old))
     while not won:
         
 
@@ -80,7 +65,6 @@ async def move_on_color():
         GREEN = 6
         WHITE = 10
         RED = 9
-        straight = False
 
         # Distanzsensor
         ds_front = ds.distance(port.D)
@@ -93,7 +77,6 @@ async def move_on_color():
             speed = -100
 
         # --- LOGIK NUR MIT FARBEN ---
-                # Finish line logik
         if left_color == RED or right_color == RED:
             won = True
 
@@ -104,9 +87,12 @@ async def move_on_color():
         # Linker Sensor sieht Grün → Linksabbiegen
         elif left_color == GREEN and right_color != GREEN:
             saw_green_left = True
+            old = time.ticks_ms()
+
 
         elif right_color == GREEN and left_color != GREEN:
             saw_green_right = True
+            old = time.ticks_ms()
 
         # Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung)
         elif left_color == GREEN and right_color == GREEN:
@@ -136,58 +122,50 @@ async def move_on_color():
 
         # Schwarz-Logik
         elif front_sens > 25 and last_seen_black == "left":
-            #time.sleep_ms(100)
             while cs.reflection(port.C) > 25: # front_sensor
                 if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE: # left_color
                     last_seen_black = "left"
+                    
                 if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE: # right_color
                     last_seen_black = "right"
-                    #mp.move_tank(mp.PAIR_1, speed, speed)
-                    #time.sleep_ms(1000)
                     break
+                old = time.ticks_ms()
                 mp.move_tank(mp.PAIR_1, -125, -20)
 
 
         elif front_sens > 25 and last_seen_black == "right":
-            #time.sleep_ms(100)
             while cs.reflection(port.C) > 25:
                 if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE:
                     last_seen_black = "right"
+
                 if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE:
                     last_seen_black = "left"
-                    #mp.move_tank(mp.PAIR_1, speed, speed)
-                    #time.sleep_ms(1000)
                     break
+                old = time.ticks_ms()
                 mp.move_tank(mp.PAIR_1, -20, -125)
 
         elif right_color == BLACK or left_color == BLACK:
+            old = time.ticks_ms()
             if right_color == BLACK and left_color == BLACK:
                 mp.move_tank(mp.PAIR_1, speed, speed)
                 time.sleep_ms(20)
-
+                
 
             # Linker Sensor ist Schwarz, rechter Weiß → sanft nach links
             elif left_color == BLACK and right_color == WHITE:
                 last_seen_black = "left"
 
-
             # Rechter Schwarz, linker Weiß → sanft nach rechts
             elif right_color == BLACK and left_color == WHITE:
                 last_seen_black = "right"
 
         # Beide Weiß, Front Schwarz → geradeaus
         elif cs.color(port.B) == WHITE and cs.color(port.F) == WHITE and front_sens < 25:
-            straight = True
+            if time.ticks_diff(time.ticks_ms(), old) > 1000:
+                last_seen_black = ""
+                old = time.ticks_ms()
             mp.move_tank(mp.PAIR_1, speed, speed)
             runloop.sleep_ms(50)
-            
-
-            # if time.ticks_diff(time.ticks_ms(), old) > 5000:
-            #     print(time.ticks_diff(time.ticks_ms(), old))
-            #     straight = True
-
-        # Alles Weiß
-        # elif cs.color(port.B) == WHITE and cs.color(port.F) == WHITE and front_sens > 25:
 
 async def main():
     mp.pair(mp.PAIR_1, port.A, port.E)