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Python code - Basis Lijnvolger
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""" | |
Python code voor Microbit / DFRobot Maqueen Plus | |
Johan Korten voor Q-Highschool en Hogeschool van Arnhem en Nijmegen | |
v1.0 okt 2022 | |
""" | |
sensorL1 = False | |
sensorL2 = False | |
lijnInMidden = False | |
def geefFalseTerug(): | |
return False | |
def leesMiddelsteLijnSensoren(): | |
global sensorL1, sensorL2, lijnInMidden | |
sensorL1 = DFRobotMaqueenPlus.read_patrol(Patrol.L1) == 1 | |
sensorL2 = DFRobotMaqueenPlus.read_patrol(Patrol.R1) == 1 | |
lijnInMidden = sensorL1 and sensorL2 | |
return lijnInMidden | |
def afwijkingRechts(): | |
global sensorL1, sensorL2, lijnInMidden | |
sensorL1 = DFRobotMaqueenPlus.read_patrol(Patrol.L1) == 0 | |
sensorL2 = DFRobotMaqueenPlus.read_patrol(Patrol.R1) == 1 | |
lijnInMidden = sensorL1 and sensorL2 | |
return lijnInMidden | |
def robotStoppen(): | |
DFRobotMaqueenPlus.set_rgb_light(RGBLight.RGBA, Color.RED) | |
DFRobotMaqueenPlus.motot_stop(Motors.ALL) | |
def afwijkingLinks(): | |
global sensorL1, sensorL2, lijnInMidden | |
sensorL1 = DFRobotMaqueenPlus.read_patrol(Patrol.L1) == 1 | |
sensorL2 = DFRobotMaqueenPlus.read_patrol(Patrol.R1) == 0 | |
lijnInMidden = sensorL1 and sensorL2 | |
return lijnInMidden | |
def robotVooruit(): | |
DFRobotMaqueenPlus.set_rgb_light(RGBLight.RGBA, Color.GREEN) | |
DFRobotMaqueenPlus.motot_run(Motors.ALL, Dir.CW, 75) | |
def robotNaarLinks(): | |
DFRobotMaqueenPlus.set_rgb_light(RGBLight.RGBR, Color.RED) | |
DFRobotMaqueenPlus.set_rgb_light(RGBLight.RGBL, Color.GREEN) | |
DFRobotMaqueenPlus.motot_run(Motors.M1, Dir.CW, 75) | |
def robotNaarRechts(): | |
DFRobotMaqueenPlus.set_rgb_light(RGBLight.RGBL, Color.RED) | |
DFRobotMaqueenPlus.set_rgb_light(RGBLight.RGBR, Color.GREEN) | |
DFRobotMaqueenPlus.motot_run(Motors.M2, Dir.CW, 75) | |
def on_forever(): | |
if leesMiddelsteLijnSensoren(): | |
robotVooruit() | |
elif afwijkingLinks(): | |
robotNaarRechts() | |
elif afwijkingRechts(): | |
robotNaarLinks() | |
else: | |
robotStoppen() | |
basic.forever(on_forever) |
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