#!/usr/bin/env python3
# imports
# ------------
# import log function
from ev3devlogging import timedlog as log
# import ev3 API
from ev3dev2 import auto as ev3
# initialize
# ------------
# initialize left and right motor as tank combo
tankDrive = ev3.MoveTank(ev3.OUTPUT_A, ev3.OUTPUT_D)
# initialize some constants
SPEED_FORWARD = ev3.SpeedPercent(30) # set speed to 30% of maximum speed
SPEED_BACKWARD = ev3.SpeedPercent(-30) # backward with same speed as forward
SPEED_ZERO = ev3.SpeedPercent(0) # stop motor (speed is zero)
TURN_TIME = 0.62
# main loop
# -----------
log("drive forward")
tankDrive.on_for_seconds(SPEED_FORWARD, SPEED_FORWARD, 2)
log("turn right")
tankDrive.on_for_seconds(SPEED_FORWARD, SPEED_BACKWARD, TURN_TIME)
log("drive forward")
def reverseSmallDistance():
numberOfMotorRotationsBackwards = 1
tankDrive.on_for_rotations(ev3.SpeedPercent(-35),
ev3.SpeedPercent(-35),
numberOfMotorRotationsBackwards,
brake=False)
def rotateDegrees(degrees):
degrees = degrees * 2
tankDrive.on_for_degrees(ev3.SpeedPercent(40),
ev3.SpeedPercent(0),
degrees,
brake=False)
def rotateDegrees(degrees):
degrees = degrees * 2
tankDrive.on_for_degrees(ev3.SpeedPercent(40),
ev3.SpeedPercent(0),
degrees,
brake=False)
def checkCollision():
return touchSensorLeft.is_pressed or touchSensorRight.is_pressed
# main loop
# -----------
tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))
while True:
color = colorSensor.color
if color == colorSensor.COLOR_BLACK: # black line
log("border")
tankDrive.stop()
reverseSmallDistance()
rotateDegrees(150)
tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))
elif color == colorSensor.COLOR_BLUE or color == colorSensor.COLOR_YELLOW or color == colorSensor.COLOR_RED:
print("lake with color={color}".format(color=color))
log("lake")
tankDrive.stop()
rotateDegrees(90)
tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))
elif checkCollision():