def straight_line_light_black(angle, speed, color_sensor):
drive_base.reset()
while color_sensor.reflection() <= 10:
fix_amount = p_controller(angle, gyro)
drive_base.drive(speed, -fix_amount)
drive_base.stop()
def straight_line_distance(angle, speed, distance):
drive_base.reset()
while abs(drive_base.distance()) <= distance:
fix_amount = p_controller(angle, gyro)
screen.print(gyro.angle())
drive_base.drive(speed, -fix_amount)
drive_base.stop()
def follow_line_distance_left(speed, distance):
timer = StopWatch()
drive_base.reset()
while abs(drive_base.distance()) <= distance:
deviation = left_color_sensor.reflection() - setpoint
turn_rate = K_P * deviation
screen.print(left_color_sensor.reflection())
drive_base.drive(speed, turn_rate)
wait(10)