From 244cdfdd7a43c018f56596a47cdd966a29c92f04 Mon Sep 17 00:00:00 2001
From: Cedric Hermann <2210943@stud.hs-mannheim.de>
Date: Thu, 11 Dec 2025 11:12:58 +0100
Subject: [PATCH] src/main.llsp3 aktualisiert

---
 src/main.llsp3 | 57 ++++++++++++++++++++++++++++++++------------------
 1 file changed, 37 insertions(+), 20 deletions(-)

diff --git a/src/main.llsp3 b/src/main.llsp3
index 168abae..2bc4571 100644
--- a/src/main.llsp3
+++ b/src/main.llsp3
@@ -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: