diff --git a/Follow_the_line/Programs /Follow_line_color_recognition.py b/Follow_the_line/Programs /Follow_line_color_recognition.py index 387ca7a..98b3932 100644 --- a/Follow_the_line/Programs /Follow_line_color_recognition.py +++ b/Follow_the_line/Programs /Follow_line_color_recognition.py @@ -1,63 +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) - - - - - - +#!/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_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) + + + + + +