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Follow_the_line/Programs /Follow_line_color_recognition.py
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Follow_the_line/Programs /Follow_line_color_recognition.py
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#!/usr/bin/env python3
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# Version 1.0 from 02/08/23
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from time import sleep
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import ev3dev2 as ev3
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from ev3dev2.motor import Motor, SpeedPercent, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D
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from ev3dev2.sensor import INPUT_1,INPUT_2,INPUT_3,INPUT_4
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from ev3dev2.sensor.lego import ColorSensor
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from ev3dev2.led import Leds
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# Define all inputs and outputs of the Robot
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# Sensors are inputs
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cs_right = ColorSensor(INPUT_4)
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cs_left = ColorSensor(INPUT_2)
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# Motors are outputs
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m_left = Motor(OUTPUT_B)
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m_right = Motor(OUTPUT_C)
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leds = Leds()
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# The motor is initialized to run counter-clockwise (gegen den Uhrzeigersinn)
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m_right.polarity = 'inversed' # use 'normal' to initialize it to run clockwise (im Uhrzeigersinn)
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m_left.polarity = 'inversed'
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# Defined inputs for the given experiment / enviroment
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line_color = 1 # Color of the given line is black
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speed_percent_alone = 60 # speed percentage when only one motor rotates (highest possible value 100%)
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speed_percent_both = 30 # speed percentage when both motors rotate (should be less than speed_percent_alone)
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# while-loop: the robot drives as long as the programm is not stopped
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while True:
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# if-functions: for different actions when the Colorsensors detect the defined line-color
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# after every function is a sleep set because it is enough to give the motors signals every 100 ms
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# when the colorsensors detect black the function: .color is equal to 1 (one)
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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
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leds.set_color("LEFT", "GREEN") # the left led lights green
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leds.set_color("RIGHT", "AMBER") # the right led (side which detected black) lights amber
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m_left.on(SpeedPercent(speed_percent_alone))
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m_right.on(SpeedPercent(0))
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sleep(0.1) # the sleep function is given in seconds (0.1 s = 100 milliseconds)
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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
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leds.set_color("LEFT", "AMBER") # the left led (side which detected black) lights amber
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leds.set_color("RIGHT", "GREEN") # the right led lights green
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m_left.on(SpeedPercent(0))
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m_right.on(SpeedPercent(speed_percent_alone))
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sleep(0.1)
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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
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m_right.stop()
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m_left.stop()
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leds.set_color("LEFT", "RED") # both leds light red
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leds.set_color("RIGHT", "RED")
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sleep(0.1)
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else: #if no coloursensor detects the defined line-color, the robot drives straight ahead
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leds.set_color("LEFT", "GREEN") # both leds light green
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leds.set_color("RIGHT", "GREEN")
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m_right.on(SpeedPercent(speed_percent_both))
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m_left.on(SpeedPercent(speed_percent_both))
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sleep(0.1)
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#!/usr/bin/env python3
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from time import sleep
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import ev3dev2 as ev3
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from ev3dev2.motor import Motor, SpeedPercent, OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D
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from ev3dev2.sensor import INPUT_1,INPUT_2,INPUT_3,INPUT_4
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from ev3dev2.sensor.lego import ColorSensor
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from ev3dev2.led import Leds
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# Define all inputs and outputs of the Robot
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# Sensors are inputs
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cs_right = ColorSensor(INPUT_4)
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cs_left = ColorSensor(INPUT_2)
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# Motors are outputs
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m_left = Motor(OUTPUT_B)
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m_right = Motor(OUTPUT_C)
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leds = Leds()
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# The motor is initialized to run counter-clockwise (gegen den Uhrzeigersinn)
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m_right.polarity = 'inversed' # use 'normal' to initialize it to run clockwise (im Uhrzeigersinn)
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m_left.polarity = 'inversed'
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# Defined inputs for the given experiment / enviroment
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Line = 1 # min. reflection meassured of line
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Floor = 30 # max. reflection meassured of floor
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max_speed_percent = 50 # maximum wanted speed percentage (highest possible value 100%)
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# calculate range
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range = (Floor - Line)
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# while-loop: the robot drives as long as the programm is not stopped
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while True:
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# the detected intensity of the two colorsensors are measured
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cs_r_intensity = cs_right.reflected_light_intensity
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cs_l_intensity = cs_left.reflected_light_intensity
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# calculate percentage of intensity from given range
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cs_r_percent = (cs_r_intensity - Line) / range
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cs_l_percent = (cs_l_intensity - Line) / range
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# calculation percantage of driving speed, depending on maximum speed percentage
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m_l_speed_percent= max_speed_percent*cs_l_percent
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m_r_speed_percent= max_speed_percent*cs_r_percent
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# make sure percentage is not higher than possible (100%) and signal it through lights
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if m_l_speed_percent > 100:
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m_l_speed_percent = 0
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leds.set_color("LEFT", "AMBER")
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else:
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leds.set_color("LEFT", "GREEN")
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if m_r_speed_percent > 100:
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m_r_speed_percent = 0
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leds.set_color("RIGHT", "AMBER")
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else:
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leds.set_color("RIGHT", "GREEN")
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# the motors drive with the calculated speed
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m_left.on(SpeedPercent(m_l_speed_percent))
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m_right.on(SpeedPercent(m_r_speed_percent))
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sleep(0.3)
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21
Follow_the_line/Programs /Read_sensor_values.py
Normal file
21
Follow_the_line/Programs /Read_sensor_values.py
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@ -0,0 +1,21 @@
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#!/usr/bin/env python3
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# Version 1.0 from 02/08/23
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from time import sleep
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import ev3dev2 as ev3
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from ev3dev2.sensor import INPUT_1,INPUT_2,INPUT_3,INPUT_4
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from ev3dev2.sensor.lego import ColorSensor
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# Define the sensor inputs of the robot
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cs_right = ColorSensor(INPUT_4)
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cs_left = ColorSensor(INPUT_2)
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while True:
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# printing the values of the right colour sensor
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print('Right-Sensor: ','Intensity=', cs_right.reflected_light_intensity,' Color=',cs_right.color)
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# printing the values of the left colour sensor
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print('Left-Sensor: ','Intensity=', cs_left.reflected_light_intensity,' Color=',cs_left.color)
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sleep(1) #the values are printed every second
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