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path: root/robot/problems/introduction/rotateback/naloga11_rotateBack_old.py
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#!/usr/bin/python

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])