def touch_collision_protocol(touch_sensor_tuple):
stop_both()
move_back(15, TIME)
if touch_sensor_tuple[0]:
turn_left(30, TIME)
turn_right(-30, TIME)
elif touch_sensor_tuple[1]:
turn_left(-30, TIME)
turn_right(30, TIME)
def ultrasonic_collision_protocol():
stop_both()
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "RED")
move_back(15, TIME)
if random.randint(1, 2) == 1:
turn_left(-30, TIME)
turn_right(30, TIME)
else:
turn_left(30, TIME)
turn_right(-30, TIME)
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
def color_collision_protocol(color_sensor_tuple):
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "RED")
if color_sensor_tuple[0]:
stop_both()
move_back(15, TIME)
turn_left(-30, TIME)
turn_right(30, TIME)
elif color_sensor_tuple[2]:
stop_both()
move_back(15, TIME)
turn_right(-30, TIME)
turn_left(30, TIME)
elif color_sensor_tuple[1]:
move_back(15, 1)
if random.randint(1, 2) == 1:
turn_left(-10, TIME)
turn_right(10, TIME)
else:
turn_right(-10, TIME)
turn_left(10, TIME)
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
def position_on_border_line(border_color):
last_sensor_fired = "left"
turn_speed = 5
while not found_parking_spot(detect_line(border_color)):
if cs_left.color == border_color:
turn_right(-turn_speed, 0.1)
turn_left(turn_speed, 0.2)
last_sensor_fired = "left"
elif cs_right.color == border_color:
turn_left(-turn_speed, 0.1)
turn_right(turn_speed, 0.2)
last_sensor_fired = "right"
elif cs_middle.color == border_color:
move_back(10, 1)
if last_sensor_fired == "right":
turn_left(-10, 0.3)
turn_right(10, 0.3)
else:
turn_right(-10, 0.3)
turn_left(10, 0.3)
else:
move_both(10)