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src/main.llsp3 aktualisiert

master
Cedric Hermann 2025-12-11 11:12:58 +01:00
parent 6560ce3cac
commit 244cdfdd7a
1 changed files with 37 additions and 20 deletions
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57
src/main.llsp3
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@ -54,13 +54,15 @@ async def move_on_color():
won = False
old = time.ticks_ms()
speed = 100
saw_green_left = False
saw_green_right = False
while not won:
# Farbcodes lesen
left_color = cs.color(port.B)
right_color = cs.color(port.F)
gradient = ms.tilt_angles()[2]
# Farbcodes
BLACK = 0
@ -69,16 +71,16 @@ async def move_on_color():
RED = 9
straight = False
turn_way_if_lost_right = True
# Distanzsensor
ds_front = ds.distance(port.D)
if gradient < -150:
speed = 400
if gradient < -120:
speed = -80
elif gradient > 50:
speed = 50
else:
speed = 100
speed = -50
else:
speed = -100
# --- LOGIK NUR MIT FARBEN ---
# Finish line logik
@ -87,27 +89,38 @@ async def move_on_color():
break
elif ds_front < 75 and ds_front > -1:
await avoid_obstacle()
# Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung)
elif left_color == GREEN and right_color == GREEN:
mp.move_tank(mp.PAIR_1, -speed, speed)
time.sleep_ms(2300)
#await avoid_obstacle()
pass
# Linker Sensor sieht Grün → Linksabbiegen
elif left_color == GREEN and right_color != GREEN:
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(700)
saw_green_left = True
elif right_color == GREEN and left_color != GREEN:
saw_green_right = True
# Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung)
elif left_color == GREEN and right_color == GREEN:
saw_green_right = False
saw_green_left = False
mp.move_tank(mp.PAIR_1, -speed, speed)
time.sleep_ms(2300)
elif saw_green_left and left_color == BLACK:
saw_green_left = False
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(1200)
mp.move_tank(mp.PAIR_1, speed, -speed)
time.sleep_ms(1050)
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(300)
# Rechter Sensor sieht Grün → Rechtsabbiegen
elif right_color == GREEN and left_color != GREEN:
elif saw_green_right and right_color == BLACK:
saw_green_right = False
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(700)
mp.move_tank(mp.PAIR_1, speed, -speed)
time.sleep_ms(1200)
mp.move_tank(mp.PAIR_1, -speed, speed)
time.sleep_ms(1050)
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(300)
@ -115,13 +128,17 @@ async def move_on_color():
elif right_color == BLACK or left_color == BLACK:
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:
mp.move_tank(mp.PAIR_1, speed-100, speed)
mp.move_tank(mp.PAIR_1, speed, -(int (speed / 4)))
# Rechter Schwarz, linker Weiß → sanft nach rechts
elif right_color == BLACK and left_color == WHITE:
mp.move_tank(mp.PAIR_1, speed, speed-100)
mp.move_tank(mp.PAIR_1, -(int (speed / 4)), speed)
# Beide Weiß → geradeaus (vermutlich neben der Linie)
elif left_color == WHITE and right_color == WHITE: