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<li class="toctree-l1 current"><a class="reference internal" href="index.html">Erste Schritte</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="wifi.html">WLAN-Verbindung herstellen</a></li>
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<div class="section" id="mein-drittes-programm">
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<h1>Mein drittes Programm<a class="headerlink" href="#mein-drittes-programm" title="Link zu dieser Überschrift">¶</a></h1>
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<p>Der offizielle compAIR-Bot ist mit einer Reihe von Sensoren ausgestattet. Die wichtigsten sind die Infrarotsensoren und -sender, die an der Vorderseite des Roboters angebracht sind. Insgesamt gibt es fünf IR-Sensoren.</p>
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<p>Um loszulegen, muss man zunächst das entsprechende Modul wie folgt importieren:</p>
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<div class="highlight-python notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre>1</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
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</pre></div>
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</td></tr></table></div>
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<p><img alt="irSensor" src="../_images/07_irSensor.webp" /></p>
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<p>Wie im obigen Diagramm zu sehen ist, verfügt jeder Sensor auch über einen entsprechenden IR-Sender / Emitter. Dieser Sender kann mit <code class="docutils literal notranslate"><span class="pre">IRSensor.set(port,</span> <span class="pre">enable)</span></code> aktiviert werden.</p>
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<p>Schalten wir nun alle fünf Sender ein:</p>
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<div class="highlight-python notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre>1
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3</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">enable</span><span class="p">()</span>
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</pre></div>
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</td></tr></table></div>
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<p>Diese fünf verschiedenen Sensoren befinden sich an der Vorderseite des Roboters und sind wichtig, um schwarze Linien zu erkennen.</p>
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<p>Es ist sehr einfach, den Wert der Sensoren abzulesen:</p>
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<div class="highlight-python notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre>1
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8</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">enable</span><span class="p">()</span>
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<span class="k">if</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read_all</span><span class="p">()[</span><span class="mi">0</span><span class="p">]</span> <span class="o">></span> <span class="mi">500</span><span class="p">:</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"high"</span><span class="p">)</span>
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<span class="k">else</span><span class="p">:</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"low"</span><span class="p">)</span>
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</pre></div>
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</td></tr></table></div>
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<p><strong>Erkennen einer schwarzen Linie</strong>
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Um den IR-Sensor zu testen, kannst du deinen Roboter auf eine schwarze Linie stellen. Der Sensor in der Mitte sollte auf der schwarzen Linie liegen.</p>
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<div class="highlight-python notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre>1
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9</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">enable</span><span class="p">()</span>
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<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">900</span>
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<span class="k">if</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read_all</span><span class="p">()[</span><span class="mi">2</span><span class="p">]</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Robot is standing on a black line"</span><span class="p">)</span>
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<span class="k">else</span><span class="p">:</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Robot is NOT standing on a black line"</span><span class="p">)</span>
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</pre></div>
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<p>Wenn das Programm ausgeführt wird, zeigt es an, dass der Roboter auf einer schwarzen Linie steht, wenn sich der mittlere IR-Sensor des Roboters über einer schwarzen Linie befindet, und es zeigt an, dass der Roboter NICHT auf einer schwarzen Linie steht, wenn sich der mittlere IR-Sensor nicht über einer Linie befindet.</p>
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<div class="line-block">
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<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">1</span></code> importieren wir das <code class="docutils literal notranslate"><span class="pre">IRSensor</span></code>-Modul, das zur Kommunikation mit dem IR-Sensor-Board verwendet werden kann.</div>
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<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">3</span></code> wird der Sensor mit der Nummer <code class="docutils literal notranslate"><span class="pre">3</span></code> aktiviert. Wenn wir einen Sensor nicht aktivieren, können wir ihn nicht in unserem Programm verwenden.</div>
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<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">4</span></code> stellen wir einen Farbschwellenwert von <code class="docutils literal notranslate"><span class="pre">900</span></code> ein, mit dem wir später prüfen werden, ob der Sensorwert unter oder über diesem Schwellenwert liegt. Unterhalb bedeutet, dass sich eine helle Farbe unter dem IR-Sensor befindet und ein höherer Wert als <code class="docutils literal notranslate"><span class="pre">900</span></code> bedeutet, dass sich eine dunkle Farbe unter dem IR-Sensor befindet.</div>
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</div>
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<div class="line-block">
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<div class="line">In <code class="docutils literal notranslate"><span class="pre">Zeile</span> <span class="pre">6</span></code> lesen wir den Sensor Nummer <code class="docutils literal notranslate"><span class="pre">2</span></code> aus und prüfen, ob der Wert über dem von uns definierten Schwellenwert von <code class="docutils literal notranslate"><span class="pre">900</span></code> liegt. Wenn das der Fall ist, hat der IR-Sensor eine schwarze Linie erkannt.</div>
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</div>
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<p>Wir werden nun das Programm so ändern, dass es alle <code class="docutils literal notranslate"><span class="pre">0.1</span></code> Sekunden prüft, ob sich eine schwarze Linie unter dem Roboter befindet, und wenn dies der Fall ist, eine Meldung ausgibt.</p>
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