def move_line(self):
tank_drive = MoveTank(OUTPUT_A, OUTPUT_B)
# drive in a turn for 5 rotations of the outer motor
# the first two parameters can be unit classes or percentages.
# drive in a different turn for 3 seconds
brick.sound.beep()
areas = [
"PARKING", "SPINNERS", "FOREST", "BOXZONE", "PRESS_BTN", "MAZE"
]
area = areas.pop()
wheel_diameter = 56
axle_track = 114
c_sensor = ColorSensor(Port.S2)
last_ambient = 2000
while True:
c = c_sensor.color()
if c == Color.RED:
if area == "MAZE":
area = areas.pop()
print(area)
tank_drive.on_for_seconds(SpeedPercent(-30), SpeedPercent(30),
0.1)
if area == "MAZE":
c = c_sensor.color()
a = c_sensor.ambient()
#print(a, c == Color.WHITE)
if c == Color.WHITE and a > 1:
if a < last_ambient:
tank_drive.on_for_seconds(SpeedPercent(100),
SpeedPercent(75), 0.1)
else:
tank_drive.on_for_seconds(SpeedPercent(-20),
SpeedPercent(20), 0.1)
last_ambient = a
class Movement:
def __init__(self, motor1, motor2, us_port=None, c_port=None):
self.tank_drive = MoveTank(OUTPUT_A, OUTPUT_B)
self.us = UltrasonicSensor(us_port)
self.colorSensor = ColorSensor(c_port)
def turnLeft():
# Turn 90 degrees left
# TODO: random numbers, test and change
self.tank_drive.on_for_seconds(SpeedPercent(-50), SpeedPercent(50), 5)
def turnRight():
# Turn 90 degrees right
# TODO: random numbers, test and change
self.tank_drive.on_for_seconds(SpeedPercent(50), SpeedPercent(-50), 5)
def free_move(self, left, right):
self.tank_drive.on(left, right)
def stop(self):
self.tank_drive.stop()
def driveUntilColorAppears(colorToFind):
# Drive forward until white line appears
color = self.colorSensor.color()
while color != colorToFind:
color = self.colorSensor.color()
self.tank_drive.on_for_seconds(SpeedPercent(100),
SpeedPercent(100), 0.2)
def driveUntilColorEnds(colorToFollow):
# Drive forward until some color line appears
color = self.colorSensor.color
while color == colorToFollow:
color = self.colorSensor.color
self.tank_drive.on(50, 50)
def driveUntilWallAhead():
distance = self.us.value()
print(str(distance) + " " + mm)
while distance > 30:
distance = self.us.value()
self.tank_drive.on_for_seconds(SpeedPercent(100),
SpeedPercent(100), 0.2)
def move_line(self):
tank_drive = MoveTank(OUTPUT_A, OUTPUT_B)
# drive in a turn for 5 rotations of the outer motor
# the first two parameters can be unit classes or percentages.
# drive in a different turn for 3 seconds
brick.sound.beep()
areas = [
"PARKING", "SPINNERS", "FOREST", "BOXZONE", "PRESS_BTN", "MAZE"
]
area = areas.pop()
wheel_diameter = 56
axle_track = 114
c_sensor = ColorSensor(Port.S2)
last_ambient = 2000
while True:
c = c_sensor.color()
if c == Color.RED:
if area == "MAZE":
area = areas.pop()
print(area)
tank_drive.on_for_seconds(SpeedPercent(-30), SpeedPercent(30),
0.1)
if area == "MAZE":
c = c_sensor.color()
a = c_sensor.ambient()
#print(a, c == Color.WHITE)
if c == Color.WHITE and a > 1:
if a < last_ambient:
tank_drive.on_for_seconds(SpeedPercent(100),
SpeedPercent(75), 0.1)
else:
tank_drive.on_for_seconds(SpeedPercent(-20),
SpeedPercent(20), 0.1)
last_ambient = a
