From 6182df3fb6452275f121ec8fa01dd9cbc15d9afa Mon Sep 17 00:00:00 2001 From: Tanja Sukal Date: Tue, 8 Aug 2023 11:35:01 +0000 Subject: [PATCH] Upload files to 'Follow_the_line/Programs ' --- .../Follow_line_color_recognition.py | 63 +++++++++++++++++++ .../Follow_line_intensity_reflected_light.py | 61 ++++++++++++++++++ .../Programs /Read_sensor_values.py | 21 +++++++ 3 files changed, 145 insertions(+) create mode 100644 Follow_the_line/Programs /Follow_line_color_recognition.py create mode 100644 Follow_the_line/Programs /Follow_line_intensity_reflected_light.py create mode 100644 Follow_the_line/Programs /Read_sensor_values.py diff --git a/Follow_the_line/Programs /Follow_line_color_recognition.py b/Follow_the_line/Programs /Follow_line_color_recognition.py new file mode 100644 index 0000000..387ca7a --- /dev/null +++ b/Follow_the_line/Programs /Follow_line_color_recognition.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +# Version 1.0 from 02/08/23 +from time import sleep +import ev3dev2 as ev3 +from ev3dev2.motor import Motor, SpeedPercent, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D +from ev3dev2.sensor import INPUT_1,INPUT_2,INPUT_3,INPUT_4 +from ev3dev2.sensor.lego import ColorSensor +from ev3dev2.led import Leds + +# Define all inputs and outputs of the Robot +# Sensors are inputs +cs_right = ColorSensor(INPUT_4) +cs_left = ColorSensor(INPUT_2) +# Motors are outputs +m_left = Motor(OUTPUT_B) +m_right = Motor(OUTPUT_C) +leds = Leds() + +# The motor is initialized to run counter-clockwise (gegen den Uhrzeigersinn) +m_right.polarity = 'inversed' # use 'normal' to initialize it to run clockwise (im Uhrzeigersinn) +m_left.polarity = 'inversed' + +# Defined inputs for the given experiment / enviroment +line_color = 1 # Color of the given line is black +speed_percent_alone = 60 # speed percentage when only one motor rotates (highest possible value 100%) +speed_percent_both = 30 # speed percentage when both motors rotate (should be less than speed_percent_alone) + +# while-loop: the robot drives as long as the programm is not stopped +while True: + # if-functions: for different actions when the Colorsensors detect the defined line-color + # after every function is a sleep set because it is enough to give the motors signals every 100 ms + + # when the colorsensors detect black the function: .color is equal to 1 (one) + if cs_right.color == line_color and cs_left.color != line_color: #if the right coloursensor detects the defined line-color, the robot drives faster to the right + leds.set_color("LEFT", "GREEN") # the left led lights green + leds.set_color("RIGHT", "AMBER") # the right led (side which detected black) lights amber + m_left.on(SpeedPercent(speed_percent_alone)) + m_right.on(SpeedPercent(0)) + sleep(0.1) # the sleep function is given in seconds (0.1 s = 100 milliseconds) + elif cs_left.color == line_color and cs_right.color != line_color : #if the left coloursensor detects the defined line-color, the robot drives faster to the left + leds.set_color("LEFT", "AMBER") # the left led (side which detected black) lights amber + leds.set_color("RIGHT", "GREEN") # the right led lights green + m_left.on(SpeedPercent(0)) + m_right.on(SpeedPercent(speed_percent_alone)) + sleep(0.1) + elif cs_left.color == line_color and cs_right.color == line_color : #if both coloursensors detect the defined line-color, the robot stops because it has no direction + m_right.stop() + m_left.stop() + leds.set_color("LEFT", "RED") # both leds light red + leds.set_color("RIGHT", "RED") + sleep(0.1) + else: #if no coloursensor detects the defined line-color, the robot drives straight ahead + leds.set_color("LEFT", "GREEN") # both leds light green + leds.set_color("RIGHT", "GREEN") + m_right.on(SpeedPercent(speed_percent_both)) + m_left.on(SpeedPercent(speed_percent_both)) + sleep(0.1) + + + + + + diff --git a/Follow_the_line/Programs /Follow_line_intensity_reflected_light.py b/Follow_the_line/Programs /Follow_line_intensity_reflected_light.py new file mode 100644 index 0000000..3aa8514 --- /dev/null +++ b/Follow_the_line/Programs /Follow_line_intensity_reflected_light.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 + +from time import sleep +import ev3dev2 as ev3 +from ev3dev2.motor import Motor, SpeedPercent, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D +from ev3dev2.sensor import INPUT_1,INPUT_2,INPUT_3,INPUT_4 +from ev3dev2.sensor.lego import ColorSensor +from ev3dev2.led import Leds + +# Define all inputs and outputs of the Robot +# Sensors are inputs +cs_right = ColorSensor(INPUT_4) +cs_left = ColorSensor(INPUT_2) +# Motors are outputs +m_left = Motor(OUTPUT_B) +m_right = Motor(OUTPUT_C) +leds = Leds() + +# The motor is initialized to run counter-clockwise (gegen den Uhrzeigersinn) +m_right.polarity = 'inversed' # use 'normal' to initialize it to run clockwise (im Uhrzeigersinn) +m_left.polarity = 'inversed' + +# Defined inputs for the given experiment / enviroment +Line = 1 # min. reflection meassured of line +Floor = 30 # max. reflection meassured of floor +max_speed_percent = 50 # maximum wanted speed percentage (highest possible value 100%) + +# calculate range +range = (Floor - Line) + +# while-loop: the robot drives as long as the programm is not stopped +while True: + + # the detected intensity of the two colorsensors are measured + cs_r_intensity = cs_right.reflected_light_intensity + cs_l_intensity = cs_left.reflected_light_intensity + # calculate percentage of intensity from given range + cs_r_percent = (cs_r_intensity - Line) / range + cs_l_percent = (cs_l_intensity - Line) / range + # calculation percantage of driving speed, depending on maximum speed percentage + m_l_speed_percent= max_speed_percent*cs_l_percent + m_r_speed_percent= max_speed_percent*cs_r_percent + # make sure percentage is not higher than possible (100%) and signal it through lights + if m_l_speed_percent > 100: + m_l_speed_percent = 0 + leds.set_color("LEFT", "AMBER") + else: + leds.set_color("LEFT", "GREEN") + if m_r_speed_percent > 100: + m_r_speed_percent = 0 + leds.set_color("RIGHT", "AMBER") + else: + leds.set_color("RIGHT", "GREEN") + # the motors drive with the calculated speed + m_left.on(SpeedPercent(m_l_speed_percent)) + m_right.on(SpeedPercent(m_r_speed_percent)) + sleep(0.3) + + + + diff --git a/Follow_the_line/Programs /Read_sensor_values.py b/Follow_the_line/Programs /Read_sensor_values.py new file mode 100644 index 0000000..f5a9785 --- /dev/null +++ b/Follow_the_line/Programs /Read_sensor_values.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python3 +# Version 1.0 from 02/08/23 +from time import sleep +import ev3dev2 as ev3 +from ev3dev2.sensor import INPUT_1,INPUT_2,INPUT_3,INPUT_4 +from ev3dev2.sensor.lego import ColorSensor + +# Define the sensor inputs of the robot +cs_right = ColorSensor(INPUT_4) +cs_left = ColorSensor(INPUT_2) + +while True: + # printing the values of the right colour sensor + print('Right-Sensor: ','Intensity=', cs_right.reflected_light_intensity,' Color=',cs_right.color) + + # printing the values of the left colour sensor + print('Left-Sensor: ','Intensity=', cs_left.reflected_light_intensity,' Color=',cs_left.color) + + sleep(1) #the values are printed every second + + \ No newline at end of file