def run(self):
self.tank_drive.on(SpeedPercent(30), SpeedPercent(30))
while True:
colorNr = self.cs.color
if colorNr == 1: # black line
log("border")
self.tank_drive.stop()
self.reverseRotations(1)
self.rotateDegrees(150)
self.tank_drive.on(SpeedPercent(30), SpeedPercent(30))
elif colorNr == 2 or colorNr == 4 or colorNr == 5: # blue or yellow or red
print("lake with color={color}".format(color=colorNr))
log("lake")
self.tank_drive.stop()
self.rotateDegrees(90)
self.tank_drive.on(SpeedPercent(30), SpeedPercent(30))
elif self.checkCollision():
log("collision")
self.tank_drive.stop()
# self.s.speak("blyat.wav")
self.reverseRotations(1)
self.rotateDegrees(180)
self.tank_drive.on(SpeedPercent(30), SpeedPercent(30))
# initialize
# ------------
# initialize left and right motor as tank combo
tankDrive = ev3.MoveTank(ev3.OUTPUT_A, ev3.OUTPUT_D)
# initialize some constants
SPEED_FORWARD = ev3.SpeedPercent(30) # set speed to 30% of maximum speed
SPEED_BACKWARD = ev3.SpeedPercent(-30) # backward with same speed as forward
SPEED_ZERO = ev3.SpeedPercent(0) # stop motor (speed is zero)
TURN_TIME = 0.62
# main loop
# -----------
log("drive forward")
tankDrive.on_for_seconds(SPEED_FORWARD, SPEED_FORWARD, 2)
log("turn right")
tankDrive.on_for_seconds(SPEED_FORWARD, SPEED_BACKWARD, TURN_TIME)
log("drive forward")
tankDrive.on_for_seconds(SPEED_FORWARD, SPEED_FORWARD, 3)
log("turn right")
tankDrive.on_for_seconds(SPEED_FORWARD, SPEED_BACKWARD, TURN_TIME)
log("drive forward")
tankDrive.on_for_seconds(SPEED_FORWARD, SPEED_FORWARD, 2)
log("turn right")
from time import sleep
from ev3dev2 import sound
mySound = sound.Sound()
# import basic log function from logging library specially for ev3
from ev3devlogging import log
# import basic log function which als logs time
#from ev3devlogging import timedlog as log
# play beep sound
mySound.beep()
log("sleep")
sleep(3)
# print to screen, doesn't get logged in file
print("starwars")
# print to log file, not shown on EV3 screen
log("starwars song")
mySound.tone([(392, 350, 100), (392, 350, 100), (392, 350, 100),
(311.1, 250, 100), (466.2, 25, 100), (392, 350, 100),
(311.1, 250, 100), (466.2, 25, 100), (392, 700, 100),
(587.32, 350, 100), (587.32, 350, 100), (587.32, 350, 100),
(622.26, 250, 100), (466.2, 25, 100), (369.99, 350, 100),
(311.1, 250, 100), (466.2, 25, 100), (392, 700, 100),
(784, 350, 100), (392, 250, 100),
# initialize
#------------
# initialize color sensor
colorSensor = ev3.ColorSensor(ev3.INPUT_2)
# initialize left and right motor as tank combo
tankDrive = ev3.MoveTank(ev3.OUTPUT_A, ev3.OUTPUT_D)
# initialize some constants
SPEED_FORWARD = ev3.SpeedPercent(30) # set speed to 30% of maximum speed
SPEED_BACKWARD = ev3.SpeedPercent(-30) # backward with same speed as forward
SPEED_ZERO = ev3.SpeedPercent(0) # stop motor (speed is zero)
# main loop
#-----------
log("drive forward")
tankDrive.on(SPEED_FORWARD, SPEED_FORWARD)
while True:
color = colorSensor.color
if color == colorSensor.COLOR_BLACK: # hit black border line
print("border!")
log("detect black")
# immediately stop
log("stop")
tankDrive.stop()
# drive backwards for the duration of 1 second
log("drive backwards")
tankDrive.on_for_seconds(SPEED_BACKWARD, SPEED_BACKWARD, 1)
# rotate right for 1 second by only running the left motor forward (keep right motor off)
log("turn right")
tankDrive.on_for_seconds(SPEED_FORWARD, SPEED_ZERO, 1)
degrees,
brake=False)
def checkCollision():
return touchSensorLeft.is_pressed or touchSensorRight.is_pressed
# main loop
# -----------
tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))
while True:
color = colorSensor.color
if color == colorSensor.COLOR_BLACK: # black line
log("border")
tankDrive.stop()
reverseSmallDistance()
rotateDegrees(150)
tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))
elif color == colorSensor.COLOR_BLUE or color == colorSensor.COLOR_YELLOW or color == colorSensor.COLOR_RED:
print("lake with color={color}".format(color=color))
log("lake")
tankDrive.stop()
rotateDegrees(90)
tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))
elif checkCollision():
log("collision")
tankDrive.stop()
reverseSmallDistance()
rotateDegrees(180)