ev3.Sound.speak('Adjusting my position').wait()
while (degrees2 < degrees1):
functions.inverseRight()
degrees2 = gyro_sensor.value()
functions.stop()
ev3.Sound.speak('End of line').wait()
ev3.Sound.speak('I will look for a line on my right').wait()
degrees = gyro_sensor.value()
#Turn right using gyro sensor
while (abs(gyro_sensor.value() - degrees) < 85):
functions.inverseRight()
functions.stop()
color = functions.senseColor()
#Turned right and will move forward to find another line
while (color >= 70):
functions.moveForward()
color = functions.senseColor()
functions.stop()
ev3.Sound.speak('Found the line')
#Turn left using gyro sensor
degrees = gyro_sensor.value()
while (abs(gyro_sensor.value() - degrees) < 81):
functions.turnLeft()
functions.stop()
#Initialise function values
error = 0
lastError = 0
integral = 0
derivative = 0
ev3.Sound.speak('Following right line').wait()
# Move to the right internal
return False
setName("OG_Loc")
print("Started")
functions.moveUntilBlocked(1, 800)
blocked = True
stepTime = 0.5
timeOffCourse = 0
while (blocked == True):
functions.turn(90)
functions.moveForward(1, stepTime)
functions.turn(-90)
timeOffCourse += stepTime
printSensorVals()
if (noObstacle()):
functions.turn(-45)
printSensorVals()
if (noObstacle()):
blocked = False
functions.turn(45)
functions.moveForward(1, 2)
functions.turn(-90)
turnTolerance = 900
max = 20
sidesTraversed = 0
actions = 0
while(sidesTraversed != 3):
if(sidesTraversed != 2):
if(slopeUp == True):
clearanceTest = functions.limitedMoveUntilBlocked(0.4, turnTolerance, 20)
if(clearanceTest == False):
functions.turn(r)
functions.moveForward(0.5, 0.5)
functions.turn(-90)
if(sidesTraversed == 0):
actions+=1
else:
functions.turn(-90)
sidesTraversed += 1
else:
functions.turn(-90)
clearanceTest = functions.limitedMoveUntilBlocked(0.4, turnTolerance, 20)
if(clearanceTest == False):
functions.turn(r)
functions.moveForward(0.5, 0.5)
if(sidesTraversed == 0):
actions+=1
turnTolerance = 900
max = 20
sidesTraversed = 0
actions = 0
while (sidesTraversed != 3):
if (sidesTraversed != 2):
if (slopeUp == True):
clearanceTest = functions.limitedMoveUntilBlocked(
0.4, turnTolerance, 20)
if (clearanceTest == False):
functions.turn(r)
functions.moveForward(0.5, 0.5)
functions.turn(-90)
if (sidesTraversed == 0):
actions += 1
else:
functions.turn(-90)
sidesTraversed += 1
else:
functions.turn(-90)
clearanceTest = functions.limitedMoveUntilBlocked(
0.4, turnTolerance, 20)
if (clearanceTest == False):
functions.turn(r)
functions.moveForward(0.5, 0.5)
if (sidesTraversed == 0):
else:
return False
setName("OG_Loc")
print("Started")
functions.moveUntilBlocked(1, 800)
blocked = True
stepTime = 0.5
timeOffCourse = 0;
while(blocked == True):
functions.turn(90)
functions.moveForward(1, stepTime)
functions.turn(-90)
timeOffCourse += stepTime
printSensorVals()
if(noObstacle()):
functions.turn(-45)
printSensorVals()
if(noObstacle()):
blocked = False
functions.turn(45)
functions.moveForward(1, 2)
functions.turn(-90)
functions.turn(50) #an additional little turn to avoid collisions with the box; now the robot should be parallel with the box's side
timeOffCourse = 0
i = 0
for i in range(0, 2): #go through the 'turn left when safe to do so' process twice
turnBlocked = True #assume turn is blocked
while(turnBlocked):
if(i == 0):
timeOffCourse += 1 #if going laterally, add time spent going the other way later
functions.moveForward(0.7, 1) #move forward slightly
functions.turn(-90) #turn left
if(not(blocked())):
functions.turn(-45) #if unblocked, turn left to face the box more
if(not(blocked())):
turnBlocked = False
functions.turn(45) #if still unblocked, undo 45 degree turn and move forward
else:
functions.turn(135) #if blocked, undo 90 and 45 degree turn
else:
functions.turn(90) #if blocked, undo 90 degree turn
