def main(): '''The main function of our program''' # set the console just how we want it reset_console() set_cursor(OFF) set_font('Lat15-Terminus24x12') print('How are you?') print("") print("Hello Selina.") print("Hello Ethan.") STUD_MM = 8 tank = MoveDifferential(OUTPUT_A, OUTPUT_B, EV3Tire, 16 * STUD_MM) motorLift = MediumMotor(OUTPUT_D) sound = Sound() # sound.speak('How are you master!') # sound.speak("I like my family") # sound.speak("I like my sister and i like my brother.") sound.beep() eye = InfraredSensor(INPUT_1) robot = Robot(tank, None, eye) botton = Button() while not botton.any(): distance = eye.distance(channel=1) heading = eye.heading(channel=1) print('distance: {}, heading: {}'.format(distance, heading)) motorLift.on_to_position(speed=40, position=-7200, block=True) #20 Rounds if distance is None: sound.speak("I am lost, there is no beacon!") else: if (distance < 14): tank.off() sound.speak("I am very close to the beacon!") motorLift.on_to_position(speed=40, position=7200, block=True) sound.speak("I had to get some more rubbish.") sound.speak("Please wait while I lift up my fork.") tank.turn_right(speed=20, degrees=random.randint(290, 340)) # random.randint(150, 210) tank.on_for_seconds(left_speed=20, right_speed=20, seconds=20) tank.turn_right(speed=20, degrees=330) motorLift.on_to_position(speed=40, position=0, block=True) elif distance >= 100: sound.speak("I am too faraway from the beacon") elif (distance < 99) and (-4 <= heading <= 4): # in right heading sound.speak("Moving farward") tank.on(left_speed=20, right_speed=20) else: if heading > 0: tank.turn_left(speed=20, degrees=20) else: tank.turn_right(speed=20, degrees=20) sound.speak("I am finding the beacon.") time.sleep(0.1)
def randomWalk(tank: MoveDifferential, touchSensor: TouchSensor): btn = Button() while not btn.any(): if touchSensor.is_pressed: tank.off() else: tank.on(left_speed = 45, right_speed = 45)