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authorMartin Možina <martin.mozina@fri.uni-lj.si>2015-10-14 18:08:44 +0200
committerMartin Možina <martin.mozina@fri.uni-lj.si>2015-10-14 18:08:44 +0200
commit531bde7a2fe3d643e9b6ffe690405b6cc07c4964 (patch)
tree9fcdd54ec25cacc32cd5aaacfb731c174278fab8 /robot/problems/introduction/rotateback/naloga11_rotateBack.py
parent1b936a961e39b2a71b5a773776474446f0c58447 (diff)
parentb1deb24a05a380450ed9dc77c3155a16bd204dfc (diff)
Merge branch 'master' of 192.168.15.97:codeq-problems
Diffstat (limited to 'robot/problems/introduction/rotateback/naloga11_rotateBack.py')
-rw-r--r--robot/problems/introduction/rotateback/naloga11_rotateBack.py48
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diff --git a/robot/problems/introduction/rotateback/naloga11_rotateBack.py b/robot/problems/introduction/rotateback/naloga11_rotateBack.py
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+++ b/robot/problems/introduction/rotateback/naloga11_rotateBack.py
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+#!/usr/bin/python
+# coding=utf-8
+
+print ("""
+Naloga 11:
+""")
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+def sgn(x):
+ return -1 if x<0 else (1 if x>0 else 0)
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+robot.connect_sensor( 'touch' )
+
+smer = hitrost = 0
+robot.reset_gyro()
+robot.gyro_set_mode( 'angle' )
+prev_smer = -1
+while 1:
+ smer = robot.gyro_sensor_measure()
+ if smer!=prev_smer:
+ print ("Kot:", smer)
+ prev_smer = smer
+
+ if robot.touch_sensor_measure():
+ robot.reset_gyro()
+ print ( robot.gyro_sensor_measure() )
+
+ if abs(smer) < 10:
+ hitrost = 10*sgn(smer)
+ else:
+ if abs(smer) > 100:
+ hitrost = 100*sgn(smer)
+ else:
+ hitrost = smer
+
+ if abs(smer) > 1:
+ L, R = -hitrost, hitrost
+ else:
+ L = R = 0
+ robot.move_tank('on', lr_power=[L,R])