From b7d96846f00d5a6eaba91659d67b14c3f84d3b07 Mon Sep 17 00:00:00 2001
From: Ruben Seitz <2211567@stud.hs-mannheim.de>
Date: Thu, 15 Jan 2026 12:46:23 +0100
Subject: [PATCH] alles funktioniert (nicht)

---
 src/main.llsp3 | 64 ++++++++++++++++++++++++--------------------------
 1 file changed, 31 insertions(+), 33 deletions(-)

diff --git a/src/main.llsp3 b/src/main.llsp3
index 4e44427..30a9e87 100644
--- a/src/main.llsp3
+++ b/src/main.llsp3
@@ -20,6 +20,11 @@ import time
 
 # Productive Code ###########################################################################
 
+BLACK = 0
+GREEN = 6
+WHITE = 10
+RED = 9
+
 async def turn_right(angle=85):
     mp.move_tank(mp.PAIR_1, 200, -200)
     await runloop.sleep_ms(int(angle * 7))# 6 ms per degree → tune this!
@@ -33,7 +38,7 @@ async def turn_left(angle=85):
 # drive forward X centimeters
 async def drive_cm(cm, speed=200):
     # convert cm → ms (you must tune this constant!)
-    mp.move_tank(mp.PAIR_1, speed, speed)
+    mp.move_tank(mp.PAIR_1, -speed, -speed)
     await runloop.sleep_ms(cm * 70)
     mp.stop(mp.PAIR_1)
 
@@ -45,28 +50,30 @@ async def avoid_obstacle(speed=100):
     await turn_right(85)
     await drive_cm(15)
     await turn_left(85)
-    await drive_cm(30)
+    await drive_cm(38)
     await turn_left(85)
-    await drive_cm(15)
-    await turn_right(85)
-old = 0
+    while cs.reflection(port.C) > 25:
+        mp.move_tank(mp.PAIR_1, -speed, -speed)
+    while cs.color(port.B) != BLACK:
+        mp.move_tank(mp.PAIR_1, 10, -110)
+    #await turn_right(85)
 async def move_on_color():
     won = False
-    old = time.ticks_ms()
     speed = 100
     saw_green_left = False
     saw_green_right = False
     last_seen_black = ""
 
+    old = time.ticks_ms()
+    # print("initial old: " + str(old))
     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
         BLACK = 0
@@ -92,8 +99,7 @@ async def move_on_color():
 
 
         elif ds_front < 75 and ds_front > -1:
-            #await avoid_obstacle()
-            pass
+            await avoid_obstacle()
 
         # Linker Sensor sieht Grün → Linksabbiegen
         elif left_color == GREEN and right_color != GREEN:
@@ -128,18 +134,18 @@ async def move_on_color():
             mp.move_tank(mp.PAIR_1, speed, speed)
             time.sleep_ms(300)
 
-        # Schwar-Logik
+        # Schwarz-Logik
         elif front_sens > 25 and last_seen_black == "left":
             #time.sleep_ms(100)
-            while cs.reflection(port.C) > 25:
-                if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE:
+            while cs.reflection(port.C) > 25: # front_sensor
+                if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE: # left_color
                     last_seen_black = "left"
-                if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE:
+                if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE: # right_color
                     last_seen_black = "right"
                     #mp.move_tank(mp.PAIR_1, speed, speed)
                     #time.sleep_ms(1000)
                     break
-                mp.move_tank(mp.PAIR_1, -75, 50)
+                mp.move_tank(mp.PAIR_1, -125, -20)
 
 
         elif front_sens > 25 and last_seen_black == "right":
@@ -152,7 +158,7 @@ async def move_on_color():
                     #mp.move_tank(mp.PAIR_1, speed, speed)
                     #time.sleep_ms(1000)
                     break
-                mp.move_tank(mp.PAIR_1, 50, -75)
+                mp.move_tank(mp.PAIR_1, -20, -125)
 
         elif right_color == BLACK or left_color == BLACK:
             if right_color == BLACK and left_color == BLACK:
@@ -169,27 +175,19 @@ async def move_on_color():
             elif right_color == BLACK and left_color == WHITE:
                 last_seen_black = "right"
 
-        # Beide Weiß → geradeaus (vermutlich neben der Linie)
-        elif left_color == WHITE and right_color == WHITE and front_sens < 25:
+        # Beide Weiß, Front Schwarz → geradeaus
+        elif cs.color(port.B) == WHITE and cs.color(port.F) == WHITE and front_sens < 25:
             straight = True
             mp.move_tank(mp.PAIR_1, speed, speed)
             runloop.sleep_ms(50)
+            
 
-        if straight:
-            if time.ticks_diff(time.ticks_ms(), old) > 200:
-                old = time.ticks_ms()
-                # if turn_way_if_lost_right:
-                #     mp.move_tank(mp.PAIR_1, speed, 0)
-                #     await runloop.sleep_ms(200)
-                #     turn_way_if_lost_right = not turn_way_if_lost_right
-                # else:
-                #     mp.move_tank(mp.PAIR_1, 0, speed)
-                #     await runloop.sleep_ms(200)
-                #     turn_way_if_lost_right = not turn_way_if_lost_right
-                if front_sens > 25:
-                    last_seen_black = ""
-        else:
-            old = time.ticks_ms()
+            # if time.ticks_diff(time.ticks_ms(), old) > 5000:
+            #     print(time.ticks_diff(time.ticks_ms(), old))
+            #     straight = True
+
+        # Alles Weiß
+        # elif cs.color(port.B) == WHITE and cs.color(port.F) == WHITE and front_sens > 25:
 
 async def main():
     mp.pair(mp.PAIR_1, port.A, port.E)