1 files changed, 48 insertions, 0 deletions
diff --git a/robot/problems/introduction/rotateback/naloga11_rotateBack.py b/robot/problems/introduction/rotateback/naloga11_rotateBack.py
new file mode 100644
index 0000000..0bab735
--- /dev/null
+++ b/robot/problems/introduction/rotateback/naloga11_rotateBack.py
@@ -0,0 +1,48 @@
+#!/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])