From 460b50a3b19e9c69c4860cb91eb31aa1b8d61e92 Mon Sep 17 00:00:00 2001
From: Ruben Seitz <2211567@stud.hs-mannheim.de>
Date: Thu, 18 Dec 2025 13:22:58 +0100
Subject: [PATCH] lol roflcopter

---
 src/main.llsp3 | 35 ++++++++++++++++++++++++-----------
 1 file changed, 24 insertions(+), 11 deletions(-)

diff --git a/src/main.llsp3 b/src/main.llsp3
index 2bc4571..fa3b404 100644
--- a/src/main.llsp3
+++ b/src/main.llsp3
@@ -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())
\ No newline at end of file