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#!/usr/bin/python
# coding=utf-8
print """
Naloga 11:
"""
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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