From 002db9d650d64d41bbd3cea8459f55a28d321673 Mon Sep 17 00:00:00 2001
From: Konstantin Lampalzer <konstantin@localhost.systems>
Date: Fri, 14 Oct 2022 00:08:59 +0200
Subject: [PATCH] Add linefollower

---
 client/docs/source/other/usage.rst | 67 ++++++++++++++++++++++++++++--
 1 file changed, 63 insertions(+), 4 deletions(-)

diff --git a/client/docs/source/other/usage.rst b/client/docs/source/other/usage.rst
index 0296e59..b8bd653 100644
--- a/client/docs/source/other/usage.rst
+++ b/client/docs/source/other/usage.rst
@@ -12,13 +12,13 @@ Vorwärts und rückwärts fahren
     from compLib.Motor import *
 
     def forward():
-        Motor.power(1, -30);
-        Motor.power(2, 30);
+        Motor.power(0, -30);
+        Motor.power(3, 30);
 
 
     def backward():
-        Motor.power(1, 30);
-        Motor.power(2, -30);
+        Motor.power(0, 30);
+        Motor.power(3, -30);
 
     def main():
         print("hallo ich bin ein roboter beep buup")
@@ -29,4 +29,63 @@ Vorwärts und rückwärts fahren
         time.sleep(1)
 
     if __name__ == '__main__':
+        main()
+
+
+Eine Linie verfolgen
+********************
+
+.. code-block:: python
+
+    import time
+    from compLib.Motor import Motor
+    from compLib.Encoder import Encoder
+    from compLib.IRSensor import IRSensor
+
+    COLOR_BREAK = 850
+    DRIVE_SPEED = 35
+
+    IRSensor.enable()
+
+    def drive(left, right):
+        right *= -1
+        Motor.multiple_power((0, right), (3, left))
+        print(f"{left} {right}")
+
+    def follow():
+        while True:
+            sensors = IRSensor.read_all()
+            
+            if sensors[0] > COLOR_BREAK:
+                # turn left
+                drive(-DRIVE_SPEED, DRIVE_SPEED)
+            elif sensors[4] > COLOR_BREAK:
+                # turn right
+                drive(DRIVE_SPEED, -DRIVE_SPEED)
+            else:
+                # straight
+                drive(DRIVE_SPEED, DRIVE_SPEED)
+
+            if sensors[0] > COLOR_BREAK and sensors[4] > COLOR_BREAK:
+                break
+        
+        drive(0, 0)
+        time.sleep(1)
+
+    def main():
+        follow()
+
+        drive(DRIVE_SPEED, DRIVE_SPEED)
+        time.sleep(0.5)
+        follow()
+
+        drive(DRIVE_SPEED, DRIVE_SPEED)
+        time.sleep(0.5)
+        follow()
+
+        drive(DRIVE_SPEED, DRIVE_SPEED)
+        time.sleep(0.5)
+        follow()
+
+    if __name__ == "__main__":
         main()
\ No newline at end of file