v0.0.0

2023-04-02 23:11:51 +01:00
parent 6e3102a190
commit 25b9f4c939
1 changed files with 64 additions and 0 deletions
@@ -0,0 +1,64 @@
+from pybricks.hubs import TechnicHub
+from pybricks.pupdevices import Motor, DCMotor, ColorDistanceSensor
+from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait, StopWatch
+
+hub = TechnicHub()
+
+barrier_duty_cycle = 27
+barrier_wait = 575
+barrier_wait_up = 2000
+
+# Initialize a motor without rotation sensors on port A.
+example_motor = DCMotor(Port.A)
+
+# Initialize the sensor.
+sensor = ColorDistanceSensor(Port.C)
+
+# Make the motor go clockwise (forward) at 70% duty cycle ("70% power").
+example_motor.dc(barrier_duty_cycle)
+
+# Wait for three seconds.
+wait(barrier_wait+100)
+
+example_motor.stop()
+
+wait(1000)
+
+# Make the motor go counterclockwise (backward) at 70% duty cycle.
+example_motor.dc(-barrier_duty_cycle)
+
+# Wait for three seconds.
+wait(barrier_wait)
+example_motor.stop()
+
+wait_cycles=0
+
+barrier_position = 0
+
+while True:
+    if sensor.distance() <= 40:
+        hub.light.on(Color.RED)
+        if barrier_position == 0:
+            example_motor.dc(barrier_duty_cycle)
+            wait(barrier_wait)
+            example_motor.stop()
+            barrier_position = 1
+        while sensor.distance() <= 40:
+            wait (10)
+        wait_cycles = barrier_wait_up/10
+    elif wait_cycles > 0:
+        #print((1/(barrier_wait_up/10))*wait_cycles)
+        hub.light.on(Color.BLUE)
+        wait_cycles = wait_cycles-1
+    else:
+        hub.light.on(Color.GREEN)
+        if barrier_position == 1:
+            example_motor.dc(-barrier_duty_cycle)
+            wait(barrier_wait)
+            example_motor.stop()
+            barrier_position = 0
+        while sensor.distance() > 40:
+            wait (10)
+    wait(10)