roboten følger linjen

oving_3/main.py

@@ -34,41 +34,48 @@
 ]
 
 # Lag spiller og kjør
-player = RTTTLPlayer(ev3, songs[3])
+#player = RTTTLPlayer(ev3, songs[3])
 #ev3.screen.print("Spiller", player.name, "...")
 #player.play()
 
 leftMotor = Motor(port=Port.A)
 rightMotor = Motor(port=Port.C)
-robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=110)
+robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=160)
 
 startBtn = TouchSensor(port=Port.S1)
 usSensor = UltrasonicSensor(port=Port.S3)
 
 leftColorSensor = ColorSensor(port=Port.S2)
 rightColorSensor = ColorSensor(port=Port.S4)
 
-BLACK = 9
-WHITE = 85
-threshold = (BLACK + WHITE) / 2
+speaker = ev3.speaker
 
-lastCorrectino = time.time()
+leftSensorThreshold = 9
+rigthSensorThreshold = 9
+
+currentTime = time.time()
+lastCorrectino = currentTime
 lastDirection = 1
 
 while True:
-    if time.time() - lastCorrectino > 1:
+    currentTime = time.time()
+
+    if currentTime - lastCorrectino > 2:
         while leftColorSensor.reflection() > 10 or rightColorSensor.reflection() < 10:
             robotDriveBase.drive(-100, 50 * lastDirection)
+
+        lastCorrectino = time.time()
+        continue
 
-    if leftColorSensor.reflection() < 10:
-        robotDriveBase.drive(-100, 50)
-        lastCorrectino == time.time()
+    if leftColorSensor.reflection() < leftSensorThreshold:
+        robotDriveBase.drive(-100, 25)
+        lastCorrectino == currentTime
         lastDirection = 1
         continue
 
-    elif rightColorSensor.reflection() < 10:
-        robotDriveBase.drive(-100, -50)
-        lastCorrectino = time.time()
+    if rightColorSensor.reflection() < rigthSensorThreshold:
+        robotDriveBase.drive(-100, -25)
+        lastCorrectino = currentTime
         lastDirection = -1
         continue