def main():
motob = Motob()
bbcon = Bbcon(motob)
arbitrator = Arbitrator(bbcon)
bbcon.set_arbitrator(arbitrator)
# sensorer og sensob
ult_sensor = Ultrasonic()
ref_sensor = ReflectanceSensors(auto_calibrate=False)
reflectance_sensob = ReflectanceSensob(ref_sensor)
ultrasonic_sensob = UltrasonicSensob(ult_sensor)
camera_sensob = CameraSensob(None, color=0)
#behaviors
dont_crash = DontCrash(bbcon, ultrasonic_sensob)
follow_line = FollowLine(bbcon, reflectance_sensob)
find_object = FindColoredObject(bbcon, camera_sensob)
bbcon.add_behavior(dont_crash)
bbcon.add_behavior(follow_line)
bbcon.add_behavior(find_object)
try:
ZumoButton().wait_for_press()
while not bbcon.object_found: # Kjører helt til vi finner objektet
bbcon.run_one_timestep()
except KeyboardInterrupt:
motob.motor.stop()
finally:
GPIO.cleanup()
