Python program to align to a line with color sensors from LEGO Education SPIKE Prime
This program is developed with LEGO Education SPIKE App Python and is used to make the Luly, small LEGO Education SPIKE Prime competition robot with 3D building instructions align to a line with two color sensor. It's a mechanism we've used with EV3, NXT and now SPIKE.
from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair from spike.control import wait_for_seconds, wait_until, Timer from math import * hub = PrimeHub() color_sensor_E = ColorSensor('E') color_sensor_F = ColorSensor('F') motor_A = Motor('A') # Set the motor port to the motor. motor_B = Motor('B') # Set the motor port to the motor. motor_A.set_default_speed(-30) # Set the default speed of the motor. motor_B.set_default_speed(30) # Set the default speed of the motor. motor_A.set_stop_action('brake') # Activate the brakes when the motor stops. The other conditions are 'hold' and 'coast'. motor_B.set_stop_action('brake') # Activate the brakes when the motor stops. motor_A_flag = 0 # Create a flag for motor A and set it to OFF. motor_B_flag = 0 # Create a flag for motor B and set it to OFF. def stop_at(colour): motor_A_flag = 0 # Reset the flag for motor A to OFF. motor_B_flag = 0 # Reset the flag for motor B to OFF. # Move forward. motor_A.start() motor_B.start() while (motor_A_flag == 0) or (motor_B_flag == 0): # Repeat while both sensors ever detect black color. if color_sensor_E.get_color() == colour: # If the color sensor on port E detect the desired color motor_A.stop() # stop the motor an port A and motor_A_flag = 1 # set the flag for motor A to ON. if color_sensor_F.get_color() == colour: # If the color sensor on port F detect the desired color motor_B.stop() # stop the motor an port B and motor_B_flag = 1 # set the flag for motor B to ON. stop_at('black') stop_at('white') raise SystemExit # Close the program.
- #p2ghxe
- 17 Mar 2021
