def do_left_sharp_turn():
driver.stop()
driver.reset()
driver.lr(-SHARP_TURN, SHARP_TURN, TURNING_SPEED)
driver.block()
driver.reset()
driver.lr(FORWARD_SPEED, FORWARD_SPEED, FORWARD_SPEED)
driver.block()
def centralize_axis():
driver.reset()
driver.stop_action = 'hold'
driver.lr(5, 5, 3)
max_val, pos = 0, (0, 0)
while driver.running():
val = 100 - ls.value()
if val > max_val:
max_val = val
pos = driver.position
driver.lr(*pos, speed=3)
driver.block()
def fine_centralize():
driver.reset()
driver.stop_action = 'hold'
driver.lr(-circ / 6, circ / 6, FC_SPEED)
pos, error = (0, 0), 100
while driver.running():
_, _, _, l, r, _, _, _ = lsa.values()
new_error = abs(l - r)
if new_error > error + 10:
break
if (l > T or r > T) and new_error < error:
error = new_error
pos = driver.position
driver.lr(*pos, speed=FC_SPEED)
return pos, error
def crossing():
driver.stop()
right = 0
left = 0
back = 0
for i in range(10):
detected_green = [i.is_green() for i in cs]
if detected_green == [True, True]:
back += 1
elif detected_green == [True, False]:
left += 1
elif detected_green == [False, True]:
right += 1
print(left, back, right)
line_sensor_value = lsa.values()
if line_sensor_value[3] > THRESHOLD or line_sensor_value[4] > THRESHOLD:
if left > 8:
driver.lr(rs["color sensor y"], rs["color sensor y"],
FORWARD_SPEED)
driver.lr(-SHARP_TURN, SHARP_TURN, TURNING_SPEED)
driver.lr(FORWARD_DISTANCE, FORWARD_DISTANCE, FORWARD_SPEED)
elif right > 8:
driver.lr(rs["color sensor y"], rs["color sensor y"],
FORWARD_SPEED)
driver.lr(SHARP_TURN, -SHARP_TURN, TURNING_SPEED)
driver.lr(FORWARD_DISTANCE, FORWARD_DISTANCE, FORWARD_SPEED)
elif back > 8:
driver.lr(rs["color sensor y"], rs["color sensor y"],
FORWARD_SPEED)
driver.lr(2 * SHARP_TURN, -2 * SHARP_TURN, TURNING_SPEED)
if line_sensor_value[0] > THRESHOLD or line_sensor_value[
1] > THRESHOLD or line_sensor_value[2] > THRESHOLD:
if left > 8:
driver.lr(rs["color sensor y"], rs["color sensor y"],
FORWARD_SPEED)
driver.lr(-SHARP_TURN, SHARP_TURN, TURNING_SPEED)
driver.lr(FORWARD_DISTANCE, FORWARD_DISTANCE, FORWARD_SPEED)
elif line_sensor_value[7] > THRESHOLD or line_sensor_value[
6] > THRESHOLD or line_sensor_value[5] > THRESHOLD:
if right > 8:
driver.lr(rs["color sensor y"], rs["color sensor y"],
FORWARD_SPEED)
driver.lr(SHARP_TURN, -SHARP_TURN, TURNING_SPEED)
driver.lr(FORWARD_DISTANCE, FORWARD_DISTANCE, FORWARD_SPEED)
def crossing():
right = 0
left = 0
back = 0
for i in range(10):
detected_green = [i.is_green() for i in cs]
if detected_green == [True, True]:
back += 1
elif detected_green == [True, False]:
left += 1
elif detected_green == [False, True]:
right += 1
print(left, right, back)
if left > 8:
driver.stop()
driver.reset()
driver.lr(rs["color sensor y"], rs["color sensor y"], FORWARD_SPEED)
driver.block()
driver.reset()
driver.lr(-SHARP_TURN, SHARP_TURN, TURNING_SPEED)
driver.block()
driver.reset()
driver.lr(0.5, 0.5, FORWARD_SPEED)
elif right > 8:
driver.stop()
driver.reset()
driver.lr(rs["color sensor y"], rs["color sensor y"], FORWARD_SPEED)
driver.block()
driver.reset()
driver.lr(SHARP_TURN, -SHARP_TURN, TURNING_SPEED)
driver.block()
driver.reset()
driver.lr(0.5, 0.5, FORWARD_SPEED)
elif back > 8:
driver.stop()
driver.reset()
driver.lr(rs["color sensor y"], rs["color sensor y"], FORWARD_SPEED)
driver.stop()
driver.reset()
driver.lr(2 * SHARP_TURN, -2 * SHARP_TURN, TURNING_SPEED)