.. _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()