Upload files to 'Follow_the_line/Programs '

Follow_the_line/Programs /Follow_line_color_recognition.py

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+#!/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)
+
+
+
+
+
+

Follow_the_line/Programs /Follow_line_intensity_reflected_light.py

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+#!/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)
+
+
+
+

Follow_the_line/Programs /Read_sensor_values.py

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+#!/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
+
+