From 1e5d42ba53ea0c631dbc6f21887839c91571ebca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jure=20=C5=BDabkar?= <jure.zabkar@fri.uni-lj.si>
Date: Tue, 13 Oct 2015 12:24:41 +0200
Subject: Uvodne vaje za robotiko

---
 .../rotateback/old_naloga11_rotateBack.py          | 53 ++++++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 robot/problems/introduction/rotateback/old_naloga11_rotateBack.py

(limited to 'robot/problems/introduction/rotateback/old_naloga11_rotateBack.py')

diff --git a/robot/problems/introduction/rotateback/old_naloga11_rotateBack.py b/robot/problems/introduction/rotateback/old_naloga11_rotateBack.py
new file mode 100644
index 0000000..a14c91d
--- /dev/null
+++ b/robot/problems/introduction/rotateback/old_naloga11_rotateBack.py
@@ -0,0 +1,53 @@
+#!/usr/bin/python
+# coding=utf-8
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+# the sensor should be perfectly still while resetting the gyro
+def resetGyro(gyro):
+    gyro.mode = 'GYRO-RATE'
+    gyro.mode = 'GYRO-ANG'
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+gyro = gyro_sensor()
+assert gyro.connected
+gyro.mode = 'GYRO-ANG'
+
+touch = touch_sensor()
+assert touch.connected
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+smer = hitrost = 0
+resetGyro(gyro)
+prev_smer = -1
+while 1:
+    smer = gyro.value()
+    if smer!=prev_smer:
+        print ("Kot:", smer)
+        prev_smer = smer
+    
+    if touch.value():
+        resetGyro(gyro)
+        print( gyro.value())
+    
+    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])
-- 
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