src/main.llsp3 aktualisiert

src/main.llsp3

@@ -55,22 +55,45 @@ def flipflop(state, r, s):
 async def move_on_color():
     start_time = time.time()
     print(ms.tilt_angles())
+
+    left = cs.reflection(port.C)
+    right = cs.reflection(port.E)
+    green = 25
+    black = 18
+    white = 90
     while True:
-        roll_value = ms.tilt_angles()[2]
-        # Change to switch case
-        if cs.reflection(port.C) < 60:
+
+        if left < green and left > black and right < green and right > black:
             mp.move_tank(mp.PAIR_1, -100, 100)
-        elif cs.reflection(port.E) < 60:
+        
+        elif left < green and left > black:
+            mp.move_tank(mp.PAIR_1, -100, 100)
+
+        elif right < green and right > black:
             mp.move_tank(mp.PAIR_1, 100, -100)
-        elif roll_value < -150: # uphill function
-            mp.move(mp.PAIR_1, 0, velocity=450)
-        else:
-            mp.move(mp.PAIR_1, 0, velocity=200)
+
+        elif left < black and right > white:
+            mp.move_tank(mp.PAIR_1, -100, 100)
+
+
+
+
+    # while True:
+    #     roll_value = ms.tilt_angles()[2]
+    #     # Change to switch case
+    #     if cs.reflection(port.C) < 60:
+    #         mp.move_tank(mp.PAIR_1, -100, 100)
+    #     elif cs.reflection(port.E) < 60:
+    #         mp.move_tank(mp.PAIR_1, 100, -100)
+    #     elif roll_value < -150: # uphill function
+    #         mp.move(mp.PAIR_1, 0, velocity=450)
+    #     else:
+    #         mp.move(mp.PAIR_1, 0, velocity=200)
 
     # Geradeaus
 
     # linkskurve
-    # rechtskurve 
+    # rechtskurve
 
     # Kreuzung (grüner Punkt)
     # wenn grün, dann biege um 90 Grad in die richtung ab (wenn vor schwarzer linie)