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Cedric Hermann 2025-11-20 20:12:01 +01:00
parent a80071a0df
commit b75bcda25a
1 changed files with 29 additions and 10 deletions
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31
src/main.llsp3
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@ -52,7 +52,10 @@ async def avoid_obstacle():
await turn_right(90) await turn_right(90)
async def move_on_color(): async def move_on_color():
while True: won = False
old = time.ticks_ms
while not won:
# Farbcodes lesen # Farbcodes lesen
left_color = cs.color(port.C) left_color = cs.color(port.C)
@ -62,15 +65,21 @@ async def move_on_color():
BLACK = 0 BLACK = 0
GREEN = 6 GREEN = 6
WHITE = 10 WHITE = 10
RED = 9
strait = False
# Distanzsensor # Distanzsensor
ds_front = ds.distance(port.F) ds_front = ds.distance(port.F)
# --- LOGIK NUR MIT FARBEN --- # --- LOGIK NUR MIT FARBEN ---
# Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung) # Finish line logik
if ds_front < 75: if left_color == RED or right_color == RED:
won = True
break
elif ds_front < 75:
await avoid_obstacle() await avoid_obstacle()
# Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung)
elif left_color == GREEN and right_color == GREEN: elif left_color == GREEN and right_color == GREEN:
mp.move_tank(mp.PAIR_1, -100, 100) mp.move_tank(mp.PAIR_1, -100, 100)
time.sleep_ms(2300) time.sleep_ms(2300)
@ -80,7 +89,7 @@ async def move_on_color():
mp.move_tank(mp.PAIR_1, 100, 100) mp.move_tank(mp.PAIR_1, 100, 100)
time.sleep_ms(700) time.sleep_ms(700)
mp.move_tank(mp.PAIR_1, -100, 100) mp.move_tank(mp.PAIR_1, -100, 100)
time.sleep_ms(1200) time.sleep_ms(1050)
mp.move_tank(mp.PAIR_1, 100, 100) mp.move_tank(mp.PAIR_1, 100, 100)
time.sleep_ms(300) time.sleep_ms(300)
@ -89,10 +98,12 @@ async def move_on_color():
mp.move_tank(mp.PAIR_1, 100, 100) mp.move_tank(mp.PAIR_1, 100, 100)
time.sleep_ms(700) time.sleep_ms(700)
mp.move_tank(mp.PAIR_1, 100, -100) mp.move_tank(mp.PAIR_1, 100, -100)
time.sleep_ms(1200) time.sleep_ms(1050)
mp.move_tank(mp.PAIR_1, 100, 100) mp.move_tank(mp.PAIR_1, 100, 100)
time.sleep_ms(300) time.sleep_ms(300)
elif right_color == BLACK and left_color == BLACK:
mp.move_tank(mp.PAIR_1, 100, 100)
# 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: elif left_color == BLACK and right_color == WHITE:
mp.move_tank(mp.PAIR_1, -50, 50) mp.move_tank(mp.PAIR_1, -50, 50)
@ -103,6 +114,7 @@ async def move_on_color():
# Beide Weiß → geradeaus (vermutlich neben der Linie) # Beide Weiß → geradeaus (vermutlich neben der Linie)
elif left_color == WHITE and right_color == WHITE: elif left_color == WHITE and right_color == WHITE:
strait = True
mp.move(mp.PAIR_1, 0, velocity=150) mp.move(mp.PAIR_1, 0, velocity=150)
# TODO: ---- Weiß auf beiden Seiten = Linie verloren ---- # TODO: ---- Weiß auf beiden Seiten = Linie verloren ----
@ -115,6 +127,13 @@ async def move_on_color():
elif gradient > 50: elif gradient > 50:
mp.move(mp.PAIR_1, 0, velocity=100) mp.move(mp.PAIR_1, 0, velocity=100)
if strait:
if time.ticks_diff(time.ticks_ms(), old) > 2000:
old = time.ticks_ms
mp.move_tank(mp.PAIR_1, 100, 50)
else:
old = time.ticks_ms
async def main(): async def main():
mp.pair(mp.PAIR_1, port.A, port.D) mp.pair(mp.PAIR_1, port.A, port.D)
await move_on_color() await move_on_color()