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#!/usr/bin/python
print ("""
Naloga 11: Robot naj drži smer - če ga obrnemo iz začetne smeri, naj se zasuka nazaj v prvotno smer. Ob pritisku na stikalo, naj se resetira (smer nastavi na 0).
""")
import sys
sys.path.append('/home/user/codeq')
import time
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])
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