def color_collision_protocol(color_sensor_tuple):
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "RED")
if color_sensor_tuple[0]:
stop_both()
move_back(15, TIME)
turn_left(-30, TIME)
turn_right(30, TIME)
elif color_sensor_tuple[2]:
stop_both()
move_back(15, TIME)
turn_right(-30, TIME)
turn_left(30, TIME)
elif color_sensor_tuple[1]:
move_back(15, 1)
if random.randint(1, 2) == 1:
turn_left(-10, TIME)
turn_right(10, TIME)
else:
turn_right(-10, TIME)
turn_left(10, TIME)
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
def touch_collision_protocol(touch_sensor_tuple):
stop_both()
move_back(15, TIME)
if touch_sensor_tuple[0]:
turn_left(30, TIME)
turn_right(-30, TIME)
elif touch_sensor_tuple[1]:
turn_left(-30, TIME)
turn_right(30, TIME)
def ultrasonic_collision_protocol():
stop_both()
leds.set_color("LEFT", "RED")
leds.set_color("RIGHT", "RED")
move_back(15, TIME)
if random.randint(1, 2) == 1:
turn_left(-30, TIME)
turn_right(30, TIME)
else:
turn_left(30, TIME)
turn_right(-30, TIME)
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
def detect_lakes(color_sensor_tuple, lakes):
color_sensor_firing = [False, False, False]
has_time_elapsed = time() - globalStart >= FIND_LAKES_TIMEOUT
global lakes_found, find_lakes_duration
if has_time_elapsed:
lakes_found = True
find_lakes_duration = floor(time() - globalStart)
for index, color in enumerate(color_sensor_tuple):
if color in lakes:
color_sensor_firing[index] = True
stop_both()
if color == RED and not color_found[RED] and not has_time_elapsed:
process_lake(RED, "Red")
if color == YELLOW and not color_found[YELLOW] and not has_time_elapsed:
process_lake(YELLOW, "Yellow")
if color == BLUE and not color_found[BLUE] and not has_time_elapsed:
process_lake(BLUE, "Blue")
if color == GREEN and not color_found[GREEN] and not has_time_elapsed:
process_lake(GREEN, "Green")
color_collision_protocol(color_sensor_firing)
ultrasonic_back_collision_protocol()
def ultrasonic_back_collision_protocol():
if us_back.value() / 10 >= 4:
stop_both()
sleep(0.4)
move_both_for_seconds(30, TIME)
find_lakes_duration = sys.maxsize
push_bricks_duration = sys.maxsize
# start timers
globalStart = time()
while mission_ongoing():
color_collision_protocol(detect_line(BORDER_COLOR))
ultrasonic_back_collision_protocol()
detect_lakes(detect_color(), lakes_to_find)
move_both(SPEED)
push_bricks()
detect_touch()
# mission completed (or timeout exceeded)
stop_both()
s.speak("Exploration finished")
s.speak("Let us celebrate")
celebrate("sing")
s.speak("Now let me park")
park_rover(BORDER_COLOR)
stop_both()
create_mission_report()
s.speak("Mission report generated")
s.speak("Mission")
arb.write_to_socket(sock_out, False)