Merge pull request #13 from IDATT1004-Team13-H2025/oving-2-multiproce…

…ssing

bruker threading for å kjøre startStop funksjonen og runRobot funksjonen samtidig

oving_2/main.py

@@ -7,6 +7,9 @@
 from pybricks.robotics import DriveBase
 from pybricks.media.ev3dev import SoundFile, ImageFile
 
+import threading
+import sys
+
 
 # This program requires LEGO EV3 MicroPython v2.0 or higher.
 # Click "Open user guide" on the EV3 extension tab for more information.
@@ -30,31 +33,41 @@
 
 isPressed = False
 
-next_turn = 0
-
-while True:
-    if(startBtn.pressed() and isPressed == False):
-        ev3.speaker.say("Excercise 2")
-        wait(500)
-        isPressed = True
-        next_turn = 1
+def startStrop():
+    global isPressed
+    while True:
+        if(startBtn.pressed()):
+            if isPressed == False:
+                ev3.speaker.say("Excercise 2")
+                wait(500)
+                isPressed = True
+                next_turn = 1
+            else:
+                isPressed = False
+                robotDriveBase.stop()
+                ev3.speaker.say("Excercise done")
+
+                break
 
-    elif(isPressed == True):
-        if startBtn.pressed():
-            isPressed = False
-            break
-
-        elif(usSensor.distance() >= 75):
-            robotDriveBase.drive(-250, 0)
-        else:
-            robotDriveBase.turn(90 * next_turn)
-            robotDriveBase.straight(-150)
-            robotDriveBase.turn(90 * next_turn)
-            next_turn *= -1
-
-robotDriveBase.stop()
-ev3.speaker.say("Excercise done")
+    print("The end..")
+    sys.exit()
 
 
+def runRobot() :
+    next_turn = 0
+
+    while True:
+        if(isPressed == True): 
+            if(usSensor.distance() >= 75):
+                robotDriveBase.drive(-250, 0)
+            else:
+                robotDriveBase.turn(90 * next_turn)
+                robotDriveBase.straight(-150)
+                robotDriveBase.turn(90 * next_turn)
+                next_turn *= -1
+
+t1 = threading.Thread(target=startStrop)
+t2 = threading.Thread(target=runRobot)
 
-print("The end..")
+t1.start()
+t2.start()