def USscanForward_timed(self):
#This function scans for objects and implements avoidance measures
#if necessary
motor2 = ev3.MediumMotor('outD')
motor2.connected
#motor2.run_timed(time_sp=2000, speed_sp=-90)
us = ev3.UltrasonicSensor()
#t_end = time.time() + 5
#while time.time() < t_end:
print us.value()
if us.value() < 100:
ev3.Sound.speak('object detected').wait()
OD = OC.OdometryControl()
OD.turn_left_ObjectAvoid()
motor2.run_timed(time_sp=1000, speed_sp=90)
OD.objectAvoidForward()
motor2.run_timed(time_sp=1000, speed_sp=90)
ev3.Sound.speak('object still in range').wait()
motor2.run_timed(time_sp=1000, speed_sp=-90)
motor2.run_timed(time_sp=1000, speed_sp=-90)
OD.turn_right_ObjectAvoid()
OD.objectAvoidForward()
OD.turn_right_ObjectAvoid()
OD.objectAvoidForward2()
ev3.Sound.speak('object has been avoided')
#print("object at:"+str(sensor_value) + "mm")
#ev3.Sound.speak("object at"+str(motor2.position) + "degrees").wait()
o=olc.openLoopControl()
o.operateMotors()
#motor2 =ev3.MediumMotor('outD'); assert motor2.connected
#motor0 = ev3.LargeMotor('outB'); assert motor0.connected
#motor1 = ev3.LargeMotor('outC'); assert motor1.connected
ev3.Sound.speak('I am going to follow these lines').wait()
Follow=FL.FollowLine()
Follow.Straight_PD_timed()
#time.sleep(4)
ev3.Sound.speak('I have reached the end of first line').wait()
OD=OC.OdometryControl()
OD.turn_right()
ev3.Sound.speak('I have reached the second line').wait()
Follow=FL.FollowLine()
Follow.Straight_PD2_timed()
ev3.Sound.speak('I have reached the end of second line').wait()
OD=OC.OdometryControl()
OD.turn_left()
ev3.Sound.speak('I have reached the final line').wait()
Follow=FL.FollowLine()
Follow.Straight_PD_timed()
ev3.Sound.speak('Impressive for a brain the size of a planet isnt it').wait()
# remove this if you want it to exit as soon as its done:
#print "wait 10sec, then end"
#time.sleep(10)