Update documentation

_sources/other/usage.rst.txt

@@ -12,13 +12,13 @@ Vorwärts und rückwärts fahren
     from compLib.Motor import *
 
     def forward():
-        Motor.power(1, -30);
+        Motor.power(0, -30)
-        Motor.power(2, 30);
+        Motor.power(3, 30)
 
 
     def backward():
-        Motor.power(1, 30);
+        Motor.power(0, 30)
-        Motor.power(2, -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()

other/usage.html

@@ -88,6 +88,7 @@
 <li class="toctree-l1"><a class="reference internal" href="../faq.html">FAQ</a></li>
 <li class="toctree-l1 current"><a class="current reference internal" href="#">Beispiele</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="#vorwarts-und-ruckwarts-fahren">Vorwärts und rückwärts fahren</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#eine-linie-verfolgen">Eine Linie verfolgen</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../lib/index.html">compLib</a></li>
@@ -164,13 +165,13 @@
 <span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="o">*</span>
 
 <span class="k">def</span> <span class="nf">forward</span><span class="p">():</span>
-    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">);</span>
+    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">)</span>
-    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">30</span><span class="p">);</span>
+    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">30</span><span class="p">)</span>
 
 
 <span class="k">def</span> <span class="nf">backward</span><span class="p">():</span>
-    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">30</span><span class="p">);</span>
+    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">30</span><span class="p">)</span>
-    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">);</span>
+    <span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">)</span>
 
 <span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
     <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;hallo ich bin ein roboter beep buup&quot;</span><span class="p">)</span>
@@ -185,6 +186,63 @@
 </pre></div>
 </div>
 </div>
+<div class="section" id="eine-linie-verfolgen">
+<h2>Eine Linie verfolgen<a class="headerlink" href="#eine-linie-verfolgen" title="Link zu dieser Überschrift">¶</a></h2>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
+<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
+<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
+<span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
+
+<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">850</span>
+<span class="n">DRIVE_SPEED</span> <span class="o">=</span> <span class="mi">35</span>
+
+<span class="n">IRSensor</span><span class="o">.</span><span class="n">enable</span><span class="p">()</span>
+
+<span class="k">def</span> <span class="nf">drive</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="n">right</span><span class="p">):</span>
+    <span class="n">right</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</span>
+    <span class="n">Motor</span><span class="o">.</span><span class="n">multiple_power</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="n">right</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="n">left</span><span class="p">))</span>
+    <span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;</span><span class="si">{</span><span class="n">left</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">right</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
+
+<span class="k">def</span> <span class="nf">follow</span><span class="p">():</span>
+    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
+        <span class="n">sensors</span> <span class="o">=</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read_all</span><span class="p">()</span>
+
+        <span class="k">if</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
+            <span class="c1"># turn left</span>
+            <span class="n">drive</span><span class="p">(</span><span class="o">-</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
+            <span class="c1"># turn right</span>
+            <span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="o">-</span><span class="n">DRIVE_SPEED</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="c1"># straight</span>
+            <span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span> <span class="ow">and</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span> <span class="o">&gt;</span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
+            <span class="k">break</span>
+
+    <span class="n">drive</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
+    <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
+
+<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+    <span class="n">follow</span><span class="p">()</span>
+
+    <span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
+    <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">follow</span><span class="p">()</span>
+
+    <span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
+    <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">follow</span><span class="p">()</span>
+
+    <span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
+    <span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span>
+    <span class="n">follow</span><span class="p">()</span>
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">main</span><span class="p">()</span>
+</pre></div>
+</div>
+</div>
 </div>