Compare commits
No commits in common. "master" and "feat/distanz" have entirely different histories.
master
...
feat/dista
141
src/main.llsp3
141
src/main.llsp3
|
|
@ -2,6 +2,7 @@ from hub import port, motion_sensor as ms
|
|||
import motor_pair as mp
|
||||
import distance_sensor as ds
|
||||
import color_sensor as cs
|
||||
import color
|
||||
import sys
|
||||
import runloop
|
||||
import time
|
||||
|
|
@ -20,12 +21,12 @@ import time
|
|||
|
||||
# Productive Code ###########################################################################
|
||||
|
||||
async def turn_right(angle=85):
|
||||
async def turn_right(angle=90):
|
||||
mp.move_tank(mp.PAIR_1, 200, -200)
|
||||
await runloop.sleep_ms(int(angle * 7))# 6 ms per degree → tune this!
|
||||
mp.stop(mp.PAIR_1)
|
||||
|
||||
async def turn_left(angle=85):
|
||||
async def turn_left(angle=90):
|
||||
mp.move_tank(mp.PAIR_1, -200, 200)
|
||||
await runloop.sleep_ms(int(angle * 7))
|
||||
mp.stop(mp.PAIR_1)
|
||||
|
|
@ -37,133 +38,87 @@ async def drive_cm(cm, speed=200):
|
|||
await runloop.sleep_ms(cm * 70)
|
||||
mp.stop(mp.PAIR_1)
|
||||
|
||||
async def avoid_obstacle(speed=100):
|
||||
async def avoid_obstacle():
|
||||
mp.stop(mp.PAIR_1)
|
||||
await runloop.sleep_ms(500)
|
||||
mp.move_tank(mp.PAIR_1, -speed, -speed)
|
||||
mp.move_tank(mp.PAIR_1, -100, -100)
|
||||
|
||||
await turn_right(90)
|
||||
await drive_cm(20)
|
||||
await turn_left(90)
|
||||
await drive_cm(40)
|
||||
await turn_left(90)
|
||||
await drive_cm(20)
|
||||
await turn_right(90)
|
||||
|
||||
await turn_right(85)
|
||||
await drive_cm(15)
|
||||
await turn_left(85)
|
||||
await drive_cm(30)
|
||||
await turn_left(85)
|
||||
await drive_cm(15)
|
||||
await turn_right(85)
|
||||
old = 0
|
||||
async def move_on_color():
|
||||
won = False
|
||||
old = time.ticks_ms()
|
||||
speed = 100
|
||||
saw_green_left = False
|
||||
saw_green_right = False
|
||||
|
||||
while not won:
|
||||
while True:
|
||||
|
||||
# Farbcodes lesen
|
||||
left_color = cs.color(port.B)
|
||||
right_color = cs.color(port.F)
|
||||
|
||||
left_color = cs.color(port.C)
|
||||
right_color = cs.color(port.E)
|
||||
gradient = ms.tilt_angles()[2]
|
||||
# Farbcodes
|
||||
BLACK = 0
|
||||
GREEN = 6
|
||||
WHITE = 10
|
||||
RED = 9
|
||||
straight = False
|
||||
turn_way_if_lost_right = True
|
||||
|
||||
# Distanzsensor
|
||||
ds_front = ds.distance(port.D)
|
||||
|
||||
if gradient < -120:
|
||||
speed = -80
|
||||
elif gradient > 50:
|
||||
speed = -50
|
||||
else:
|
||||
speed = -100
|
||||
ds_front = ds.distance(port.F)
|
||||
|
||||
# --- LOGIK NUR MIT FARBEN ---
|
||||
# Finish line logik
|
||||
if left_color == RED or right_color == RED:
|
||||
won = True
|
||||
break
|
||||
# Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung)
|
||||
if ds_front < 75:
|
||||
await avoid_obstacle()
|
||||
|
||||
elif ds_front < 75 and ds_front > -1:
|
||||
#await avoid_obstacle()
|
||||
pass
|
||||
elif left_color == GREEN and right_color == GREEN:
|
||||
mp.move_tank(mp.PAIR_1, -100, 100)
|
||||
time.sleep_ms(2300)
|
||||
|
||||
# Linker Sensor sieht Grün → Linksabbiegen
|
||||
elif left_color == GREEN and right_color != GREEN:
|
||||
saw_green_left = True
|
||||
|
||||
elif right_color == GREEN and left_color != GREEN:
|
||||
saw_green_right = True
|
||||
|
||||
# Beide Sensoren sehen Grün (z.B. Kreuzung / Markierung)
|
||||
elif left_color == GREEN and right_color == GREEN:
|
||||
saw_green_right = False
|
||||
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)
|
||||
mp.move_tank(mp.PAIR_1, 100, 100)
|
||||
time.sleep_ms(700)
|
||||
mp.move_tank(mp.PAIR_1, -100, 100)
|
||||
time.sleep_ms(1200)
|
||||
mp.move_tank(mp.PAIR_1, speed, -speed)
|
||||
time.sleep_ms(1050)
|
||||
mp.move_tank(mp.PAIR_1, speed, speed)
|
||||
mp.move_tank(mp.PAIR_1, 100, 100)
|
||||
time.sleep_ms(300)
|
||||
|
||||
# Rechter Sensor sieht Grün → Rechtsabbiegen
|
||||
elif saw_green_right and right_color == BLACK:
|
||||
saw_green_right = False
|
||||
mp.move_tank(mp.PAIR_1, speed, speed)
|
||||
elif right_color == GREEN and left_color != GREEN:
|
||||
mp.move_tank(mp.PAIR_1, 100, 100)
|
||||
time.sleep_ms(700)
|
||||
mp.move_tank(mp.PAIR_1, 100, -100)
|
||||
time.sleep_ms(1200)
|
||||
mp.move_tank(mp.PAIR_1, -speed, speed)
|
||||
time.sleep_ms(1050)
|
||||
mp.move_tank(mp.PAIR_1, speed, speed)
|
||||
mp.move_tank(mp.PAIR_1, 100, 100)
|
||||
time.sleep_ms(300)
|
||||
|
||||
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:
|
||||
mp.move_tank(mp.PAIR_1, speed, -(int (speed / 4)))
|
||||
|
||||
elif left_color == BLACK and right_color == WHITE:
|
||||
mp.move_tank(mp.PAIR_1, -50, 50)
|
||||
|
||||
# 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)
|
||||
elif right_color == BLACK and left_color == WHITE:
|
||||
mp.move_tank(mp.PAIR_1, 50, -50)
|
||||
|
||||
# Beide Weiß → geradeaus (vermutlich neben der Linie)
|
||||
elif left_color == WHITE and right_color == WHITE:
|
||||
straight = True
|
||||
mp.move_tank(mp.PAIR_1, speed, speed)
|
||||
runloop.sleep_ms(50)
|
||||
mp.move(mp.PAIR_1, 0, velocity=150)
|
||||
|
||||
if straight:
|
||||
if time.ticks_diff(time.ticks_ms(), old) > 2750:
|
||||
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
|
||||
# TODO: ---- Weiß auf beiden Seiten = Linie verloren ----
|
||||
# wenn links == weiß UND rechts == weiß:
|
||||
# langsam drehen bis schwarz gefunden
|
||||
|
||||
else:
|
||||
old = time.ticks_ms()
|
||||
elif gradient < -150:
|
||||
mp.move(mp.PAIR_1, 0, velocity=350)
|
||||
|
||||
elif gradient > 50:
|
||||
mp.move(mp.PAIR_1, 0, velocity=100)
|
||||
|
||||
async def main():
|
||||
mp.pair(mp.PAIR_1, port.A, port.E)
|
||||
mp.pair(mp.PAIR_1, port.A, port.D)
|
||||
await move_on_color()
|
||||
|
||||
sys.exit()
|
||||
|
||||
runloop.run(main())
|
||||
runloop.run(main())
|
||||
|
|
|
|||
Loading…
Reference in New Issue