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lol roflcopter

master
Ruben Seitz 2025-12-18 13:22:58 +01:00
parent 244cdfdd7a
commit 460b50a3b1
1 changed files with 24 additions and 11 deletions
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35
src/main.llsp3
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@ -56,12 +56,16 @@ async def move_on_color():
speed = 100
saw_green_left = False
saw_green_right = False
last_seen_black = ""
while not won:
# Farbcodes lesen
left_color = cs.color(port.B)
right_color = cs.color(port.F)
front_sens = cs.reflection(port.C)
gradient = ms.tilt_angles()[2]
# Farbcodes
@ -76,7 +80,7 @@ async def move_on_color():
ds_front = ds.distance(port.D)
if gradient < -120:
speed = -80
speed = -120
elif gradient > 50:
speed = -50
else:
@ -86,7 +90,7 @@ async def move_on_color():
# Finish line logik
if left_color == RED or right_color == RED:
won = True
break
elif ds_front < 75 and ds_front > -1:
#await avoid_obstacle()
@ -111,7 +115,7 @@ async def move_on_color():
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(1200)
mp.move_tank(mp.PAIR_1, speed, -speed)
time.sleep_ms(1050)
time.sleep_ms(1000)
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(300)
@ -121,27 +125,35 @@ async def move_on_color():
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(1200)
mp.move_tank(mp.PAIR_1, -speed, speed)
time.sleep_ms(1050)
time.sleep_ms(1000)
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(300)
elif front_sens > 25 and last_seen_black == "left":
while cs.reflection(port.C) > 25:
mp.move_tank(mp.PAIR_1, -100, 50)
elif front_sens > 25 and last_seen_black == "right":
while cs.reflection(port.C) > 25:
mp.move_tank(mp.PAIR_1, 50, -100)
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
# Linker Sensor ist Schwarz, rechter Weiß → sanft nach links
elif left_color == BLACK and right_color == WHITE:
mp.move_tank(mp.PAIR_1, speed, -(int (speed / 4)))
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:
mp.move_tank(mp.PAIR_1, -(int (speed / 4)), speed)
last_seen_black = "right"
# Beide Weiß → geradeaus (vermutlich neben der Linie)
elif left_color == WHITE and right_color == WHITE:
elif left_color == WHITE and right_color == WHITE and front_sens < 25:
straight = True
mp.move_tank(mp.PAIR_1, speed, speed)
runloop.sleep_ms(50)
@ -164,6 +176,7 @@ async def move_on_color():
async def main():
mp.pair(mp.PAIR_1, port.A, port.E)
await move_on_color()
sys.exit()
runloop.run(main())