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docs/source/other/usage.rst

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+.. _other_usage:
+
+Beispiele
+#########
+
+Vorwärts und rückwärts fahren
+*****************************
+
+.. code-block:: python
+
+    import time
+    from compLib.Motor import *
+
+    def forward():
+        Motor.power(0, -30)
+        Motor.power(3, 30)
+
+
+    def backward():
+        Motor.power(0, 30)
+        Motor.power(3, -30)
+
+    def main():
+        print("hallo ich bin ein roboter beep buup")
+
+        forward()
+        time.sleep(1)
+        backward()
+        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()
+
+Funktionalität des Roboters überprüfen 
+**************************************
+
+.. code-block:: python
+
+    import time
+    from compLib.Motor import Motor
+    from compLib.Encoder import Encoder
+    from compLib.IRSensor import IRSensor
+
+
+    def testIR():
+        print("Enabling Infrared Sensor")
+        IRSensor.enable()
+        time.sleep(1)
+
+        print("Writing sensor values...")
+        for i in range(0, 50):
+            print(IRSensor.read_all())
+            time.sleep(0.1)
+
+        print("Disabling Infrared Sensor")
+        IRSensor.disable()
+
+    def testEncoders():
+        Motor.multiple_pulse_width((0, 50), (3, -50))
+
+        print("Writing encoder positions...")
+        for i in range(0, 50):
+            print(Encoder.read_all_positions())
+            time.sleep(0.1)
+
+        time.sleep(2)
+        print("Writing encoder velocities...")
+        for i in range(0, 50):
+            print(Encoder.read_all_velocities())
+            time.sleep(0.1)
+
+        Motor.multiple_pulse_width((0, 0), (3, 0))
+
+
+    def testMotors():
+        print("Setting pulse_with")
+        Motor.multiple_pulse_width((0, 50), (3, -50))
+        time.sleep(3)
+
+        print("Setting power")
+        Motor.multiple_power((0, 50), (3, -50))
+        time.sleep(3)
+
+        print("Setting pulse_with")
+        Motor.multiple_speed((0, 5), (3, -5))
+        time.sleep(3)
+
+        for i in range(0, 100):
+            Motor.multiple_power((0, i), (3, -i))
+            time.sleep(0.1)
+
+
+    if __name__ == "__main__":
+        print("Make sure robot is turned on it's back!")
+        time.sleep(5)
+
+        print()
+        print("----------------- Testing Infrared Sensor -----------------")
+        testIR()
+
+        print()
+        print("----------------- Testing Encoder -----------------")
+        testEncoders()
+
+        print()
+        print("----------------- Testing Motors -----------------")
+        testMotors()