import time
import FA
fa = FA.Create()
fa.ComOpen(6)
fa.LCDClear()
white = 200 #Reflection value from a white surface
correction = 10 #correction angle
clapSound = 3000 #clap treshold to trigger motion of the robot
while fa.ReadMic() < clapSound:
fa.LCDPrint(28, 0, "You need to clap to start")
fa.LCDClear()
timerStart = time.time()
while True:
leftSensor = fa.ReadLine(0)
rightSensor = fa.ReadLine(1)
if rightSensor >= white and leftSensor >= white:
fa.SetMotors(0, 0)
print("Gap Detected")
fa.LCDPrint(28, 0, "Gap Detected")
break
elif leftSensor >= white:
fa.Right(correction)
elif rightSensor >= white:
fa.Left(correction)
#max_size = max(left_side, right_side)
#full_power = 100
#robot.SetMotors(left_side/max_size * full_power, right_side/max_size * full_power)
def explore():
front = robot.ReadIR(2)
left = robot.ReadIR(0)
right = robot.ReadIR(4)
print("Left: " + str(left) + ", front: " + str(front) + ", Right: " +
str(right))
#Initialize Connection and open port
robot = FA.Create()
robot.ComOpen(16)
#83 is 16
#other is 15
full_power = 100
#Test robot controls
print("Let's Go!")
#cmd_stack = [Directions.forwards, Directions.left, Directions.forwards, Directions.left, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards]
#cmd_stack = [Directions.forwards, Directions.right, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards, Directions.forwards]
#reverse_stack = convertFromInstructionsToMovement(cmd_stack)
#adjustStraight()
#robot.Right(180)
#convertFromInstructionsToMovement(reverse_stack)
explore()