Sukal/LEGO_EV3_Python_Examples
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Changed program to more variability

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This commit is contained in:
Tanja Sukal 2023-09-20 16:09:43 +00:00
parent 9277c635cd
commit 5ceb290435
1 changed files with 27 additions and 26 deletions
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53
Color_Sorting/Program/Python_Obstical_sorter.py
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@ -25,10 +25,11 @@ m_right.polarity = 'inversed' # use 'normal' to initialize it to run clockwise
m_left.polarity = 'inversed'
# Defined inputs for the given experiment / enviroment
orange = 1 # Signatur of orange dice
green = 2 # Signatur of green dice
sig_sort = 2 # Signatur of green dice
sig_let = 1 # Signatur of orange dice
fast = 30 # driving speed
slow = 10 # searching speed
line = 10 # min. reflection of outline
# initalization state defined
state = 1 # Initiate search state for beginning
@ -51,28 +52,28 @@ def search ():
m_right.on(SpeedPercent(-slow))
m_left.on(SpeedPercent(slow))
# search for blocks
nr_orange, o_block = pixy2.get_blocks(orange, 2)
nr_green, g_block = pixy2.get_blocks(green, 2)
if cs.reflected_light_intensity < 15: # if outline is reached change state to edge
nr_sort, sort_block = pixy2.get_blocks(sig_sort, 2)
nr_let, let_block = pixy2.get_blocks(sig_let, 2)
if cs.reflected_light_intensity < line: # if outline is reached change state to edge
tank.stop()
last_state = state
state = 5
elif us.distance_centimeters < 10: # if a block is currently in the arms change to sort
last_state = state
state = 3
elif nr_orange > 0: # when orange block is found then change to get
elif nr_sort > 0: # when block to sort is found then change to get
tank.stop()
last_state = state
state = 2
elif nr_green > 0: # when green block is found then change to avoid
elif nr_let > 0: # when block to let be is found then change to avoid
last_state = state
state = 4
elif gyro.angle > 720: # when the robot does not find a block drive a little bit forward
while cs.reflected_light_intensity > 8 and j <= 5:
while cs.reflected_light_intensity > line and j <= 5:
tank.on(fast,fast)
sleep(0.2)
j+=1
if cs.reflected_light_intensity <= 8 :
if cs.reflected_light_intensity <= line :
tank.stop()
last_state = state
state = 5
@ -86,14 +87,14 @@ def get ():
global last_state
global i
# drive twoards block and get it into arms
leds.set_color("LEFT", "ORANGE")
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "BLACK")
# drive straight ahead
tank.on(fast,fast)
# find the orange block again
nr_orange, o_block = pixy2.get_blocks(orange, 2)
if nr_orange > 0: # if block is found again get position
x = o_block[0].x_center #get where in the field of vision the block lays
# find the block for sorting again
nr_sort, sort_block = pixy2.get_blocks(sig_sort, 2)
if nr_sort > 0: # if block is found again get position
x = sort_block[0].x_center #get where in the field of vision the block lays
i= 0
else: # when block is not found, virtually place the robot in the middle of the vision
x = 130
@ -121,7 +122,7 @@ def get ():
elif x > 150: # turn right
m_right.on(SpeedPercent(-slow))
m_left.on(SpeedPercent(slow))
if cs.reflected_light_intensity < 15: # robot detected line change to edge
if cs.reflected_light_intensity < line: # robot detected line change to edge
tank.stop()
last_state = state
state = 5 # When colorsensor detects line then switch state
@ -132,17 +133,17 @@ def sort ():
global state
global last_state
# block is caught, drive to the edge
leds.set_color("LEFT", "ORANGE")
leds.set_color("RIGHT", "ORANGE")
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
# drive straight ahead
tank.on(fast,fast)
# search for green blocks
nr_green, g_block = pixy2.get_blocks(green, 2)
if cs.reflected_light_intensity < 15: # when reached line change to edge
# search for block to let be in area
nr_let, let_block = pixy2.get_blocks(sig_let, 2)
if cs.reflected_light_intensity < line: # when reached line change to edge
tank.stop()
last_state = state
state = 5
elif nr_green > 0:
elif nr_let > 0:
last_state = state
state = 4
@ -151,12 +152,12 @@ def avoid ():
global state
global last_state
# found green block, do not want to kick it out
leds.set_color("LEFT", "GREEN")
leds.set_color("RIGHT", "GREEN")
leds.set_color("LEFT", "ORANGE")
leds.set_color("RIGHT", "ORANGE")
# search for green block again
nr_green, g_block = pixy2.get_blocks(green, 2)
if nr_green > 0: # if block is found again get position
x = g_block[0].x_center # get where in the field of vision the block lays
nr_let, let_block = pixy2.get_blocks(sig_let, 2)
if nr_let > 0: # if block is found again get position
x = let_block[0].x_center # get where in the field of vision the block lays
else: # when block is not found, virtually place the robot in the middle of the vision
x = 130
# When block lays in middle of the vision drive around it