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1.00 on god frfr

master
Ruben Seitz 2026-01-15 13:32:46 +01:00
parent b7d96846f0
commit 18dcbeb506
1 changed files with 13 additions and 35 deletions
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48
src/main.llsp3
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@ -6,20 +6,6 @@ import sys
import runloop import runloop
import time 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 BLACK = 0
GREEN = 6 GREEN = 6
WHITE = 10 WHITE = 10
@ -56,7 +42,7 @@ async def avoid_obstacle(speed=100):
mp.move_tank(mp.PAIR_1, -speed, -speed) mp.move_tank(mp.PAIR_1, -speed, -speed)
while cs.color(port.B) != BLACK: while cs.color(port.B) != BLACK:
mp.move_tank(mp.PAIR_1, 10, -110) mp.move_tank(mp.PAIR_1, 10, -110)
#await turn_right(85)
async def move_on_color(): async def move_on_color():
won = False won = False
speed = 100 speed = 100
@ -65,7 +51,6 @@ async def move_on_color():
last_seen_black = "" last_seen_black = ""
old = time.ticks_ms() old = time.ticks_ms()
# print("initial old: " + str(old))
while not won: while not won:
@ -80,7 +65,6 @@ async def move_on_color():
GREEN = 6 GREEN = 6
WHITE = 10 WHITE = 10
RED = 9 RED = 9
straight = False
# Distanzsensor # Distanzsensor
ds_front = ds.distance(port.D) ds_front = ds.distance(port.D)
@ -93,7 +77,6 @@ async def move_on_color():
speed = -100 speed = -100
# --- LOGIK NUR MIT FARBEN --- # --- LOGIK NUR MIT FARBEN ---
# Finish line logik
if left_color == RED or right_color == RED: if left_color == RED or right_color == RED:
won = True won = True
@ -104,9 +87,12 @@ async def move_on_color():
# Linker Sensor sieht Grün → Linksabbiegen # Linker Sensor sieht Grün → Linksabbiegen
elif left_color == GREEN and right_color != GREEN: elif left_color == GREEN and right_color != GREEN:
saw_green_left = True saw_green_left = True
old = time.ticks_ms()
elif right_color == GREEN and left_color != GREEN: elif right_color == GREEN and left_color != GREEN:
saw_green_right = True saw_green_right = True
old = time.ticks_ms()
# Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung) # Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung)
elif left_color == GREEN and right_color == GREEN: elif left_color == GREEN and right_color == GREEN:
@ -136,58 +122,50 @@ async def move_on_color():
# Schwarz-Logik # Schwarz-Logik
elif front_sens > 25 and last_seen_black == "left": elif front_sens > 25 and last_seen_black == "left":
#time.sleep_ms(100)
while cs.reflection(port.C) > 25: # front_sensor while cs.reflection(port.C) > 25: # front_sensor
if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE: # left_color if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE: # left_color
last_seen_black = "left" last_seen_black = "left"
if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE: # right_color if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE: # right_color
last_seen_black = "right" last_seen_black = "right"
#mp.move_tank(mp.PAIR_1, speed, speed)
#time.sleep_ms(1000)
break break
old = time.ticks_ms()
mp.move_tank(mp.PAIR_1, -125, -20) mp.move_tank(mp.PAIR_1, -125, -20)
elif front_sens > 25 and last_seen_black == "right": elif front_sens > 25 and last_seen_black == "right":
#time.sleep_ms(100)
while cs.reflection(port.C) > 25: while cs.reflection(port.C) > 25:
if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE: if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE:
last_seen_black = "right" last_seen_black = "right"
if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE: if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE:
last_seen_black = "left" last_seen_black = "left"
#mp.move_tank(mp.PAIR_1, speed, speed)
#time.sleep_ms(1000)
break break
old = time.ticks_ms()
mp.move_tank(mp.PAIR_1, -20, -125) mp.move_tank(mp.PAIR_1, -20, -125)
elif right_color == BLACK or left_color == BLACK: elif right_color == BLACK or left_color == BLACK:
old = time.ticks_ms()
if right_color == BLACK and left_color == BLACK: if right_color == BLACK and left_color == BLACK:
mp.move_tank(mp.PAIR_1, speed, speed) mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(20) time.sleep_ms(20)
# Linker Sensor ist Schwarz, rechter Weiß → sanft nach links # Linker Sensor ist Schwarz, rechter Weiß → sanft nach links
elif left_color == BLACK and right_color == WHITE: elif left_color == BLACK and right_color == WHITE:
last_seen_black = "left" last_seen_black = "left"
# Rechter Schwarz, linker Weiß → sanft nach rechts # Rechter Schwarz, linker Weiß → sanft nach rechts
elif right_color == BLACK and left_color == WHITE: elif right_color == BLACK and left_color == WHITE:
last_seen_black = "right" last_seen_black = "right"
# Beide Weiß, Front Schwarz → geradeaus # Beide Weiß, Front Schwarz → geradeaus
elif cs.color(port.B) == WHITE and cs.color(port.F) == WHITE and front_sens < 25: 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) mp.move_tank(mp.PAIR_1, speed, speed)
runloop.sleep_ms(50) 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(): async def main():
mp.pair(mp.PAIR_1, port.A, port.E) mp.pair(mp.PAIR_1, port.A, port.E)