From 8dd0490191e5bfc4845cf89dde6732fac7dae689 Mon Sep 17 00:00:00 2001
From: Tanja Sukal <tanja.sukal@stud.unileoben.ac.at>
Date: Mon, 2 Sep 2024 14:50:14 +0000
Subject: [PATCH] Update 'Follow_the_line/Programs
 /Follow_line_intensity_reflected_light.py'

---
 .../Follow_line_intensity_reflected_light.py  | 122 +++++++++---------
 1 file changed, 61 insertions(+), 61 deletions(-)

diff --git a/Follow_the_line/Programs /Follow_line_intensity_reflected_light.py b/Follow_the_line/Programs /Follow_line_intensity_reflected_light.py
index 80a5a7b..3e1c990 100644
--- a/Follow_the_line/Programs /Follow_line_intensity_reflected_light.py	
+++ b/Follow_the_line/Programs /Follow_line_intensity_reflected_light.py	
@@ -1,61 +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_A) 
-m_right = Motor(OUTPUT_D)
-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 = 3 # min. reflection meassured of line
-Floor = 35 # max. reflection meassured of floor
-max_speed_percent = 40 # 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)
-
-
-
-
+#!/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_A) 
+m_right = Motor(OUTPUT_D)
+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 = 2 # min. reflection meassured of line
+Floor = 30 # max. reflection meassured of floor
+max_speed_percent = 45 # 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)
+
+
+
+