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src/main.llsp3 aktualisiert

master
Ruben Seitz 2026-01-08 11:11:34 +01:00
parent 460b50a3b1
commit ef4db27b62
1 changed files with 36 additions and 18 deletions
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54
src/main.llsp3
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@ -60,7 +60,7 @@ async def move_on_color():
while not won:
# Farbcodes lesen
left_color = cs.color(port.B)
right_color = cs.color(port.F)
@ -74,7 +74,6 @@ async def move_on_color():
WHITE = 10
RED = 9
straight = False
turn_way_if_lost_right = True
# Distanzsensor
ds_front = ds.distance(port.D)
@ -109,7 +108,7 @@ async def move_on_color():
saw_green_left = False
mp.move_tank(mp.PAIR_1, -speed, speed)
time.sleep_ms(2300)
elif saw_green_left and left_color == BLACK:
saw_green_left = False
mp.move_tank(mp.PAIR_1, speed, speed)
@ -129,24 +128,42 @@ async def move_on_color():
mp.move_tank(mp.PAIR_1, speed, speed)
time.sleep_ms(300)
# Schwar-Logik
elif front_sens > 25 and last_seen_black == "left":
while cs.reflection(port.C) > 25:
mp.move_tank(mp.PAIR_1, -100, 50)
#time.sleep_ms(100)
while cs.reflection(port.C) > 25:
if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE:
last_seen_black = "left"
if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE:
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)
elif front_sens > 25 and last_seen_black == "right":
#time.sleep_ms(100)
while cs.reflection(port.C) > 25:
mp.move_tank(mp.PAIR_1, 50, -100)
if cs.color(port.F) == BLACK and cs.color(port.B) == WHITE:
last_seen_black = "right"
if cs.color(port.B) == BLACK and cs.color(port.F) == WHITE:
last_seen_black = "left"
#mp.move_tank(mp.PAIR_1, speed, speed)
#time.sleep_ms(1000)
break
mp.move_tank(mp.PAIR_1, 50, -75)
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
elif left_color == BLACK and right_color == WHITE:
last_seen_black = "left"
# Rechter Schwarz, linker Weiß → sanft nach rechts
elif right_color == BLACK and left_color == WHITE:
@ -159,17 +176,18 @@ async def move_on_color():
runloop.sleep_ms(50)
if straight:
if time.ticks_diff(time.ticks_ms(), old) > 2750:
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 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()