From bb5f06ffef86379060ff5a6e515378bc343dc31e Mon Sep 17 00:00:00 2001
From: Odin Grav <odin@grav.name>
Date: Wed, 17 Sep 2025 09:11:06 +0200
Subject: [PATCH 1/3] =?UTF-8?q?started=20=C3=A5=20f=C3=A5=20robotten=20til?=
 =?UTF-8?q?=20=C3=A5=20f=C3=B8lge=20en=20linje?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 oving_3/main.py | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/oving_3/main.py b/oving_3/main.py
index e4b38bf..937fbff 100644
--- a/oving_3/main.py
+++ b/oving_3/main.py
@@ -39,7 +39,19 @@
 
 leftMotor = Motor(port=Port.A)
 rightMotor = Motor(port=Port.B)
-
 robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=110)
 
-robotDriveBase.drive(1000, 0)
\ No newline at end of file
+startBtn = TouchSensor(port=Port.S1)
+usSensor = UltrasonicSensor(port=Port.S3)
+
+leftColorSensor = ColorSensor(port=Port.S2)
+rightColorSensor = ColorSensor(port=Port.S4)
+
+while True:
+    if leftColorSensor.color() == Color.BLACK:
+        robotDriveBase.turn(5)
+
+    elif rightColorSensor.color() == Color.BLACK:
+        robotDriveBase.turn(-5)
+
+    DriveBase.run(100)
\ No newline at end of file

From 88998503d1133e6803da670263c1f012100a2ee0 Mon Sep 17 00:00:00 2001
From: Odin Grav <odin@grav.name>
Date: Wed, 17 Sep 2025 10:28:16 +0200
Subject: [PATCH 2/3] progress

---
 oving_3/main.py | 30 ++++++++++++++++++++++++------
 1 file changed, 24 insertions(+), 6 deletions(-)

diff --git a/oving_3/main.py b/oving_3/main.py
index 937fbff..e7c4963 100644
--- a/oving_3/main.py
+++ b/oving_3/main.py
@@ -9,6 +9,7 @@
 
 from rtttl_player import RTTTLPlayer
 from random import randint
+import time
 
 
 
@@ -38,7 +39,7 @@
 #player.play()
 
 leftMotor = Motor(port=Port.A)
-rightMotor = Motor(port=Port.B)
+rightMotor = Motor(port=Port.C)
 robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=110)
 
 startBtn = TouchSensor(port=Port.S1)
@@ -47,11 +48,28 @@
 leftColorSensor = ColorSensor(port=Port.S2)
 rightColorSensor = ColorSensor(port=Port.S4)
 
+BLACK = 9
+WHITE = 85
+threshold = (BLACK + WHITE) / 2
+
+lastCorrectino = time.time()
+lastDirection = 1
+
 while True:
-    if leftColorSensor.color() == Color.BLACK:
-        robotDriveBase.turn(5)
+    if time.time() - lastCorrectino > 1:
+        while leftColorSensor.reflection() > 10 or rightColorSensor.reflection() < 10:
+            robotDriveBase.drive(-100, 50 * lastDirection)
 
-    elif rightColorSensor.color() == Color.BLACK:
-        robotDriveBase.turn(-5)
+    if leftColorSensor.reflection() < 10:
+        robotDriveBase.drive(-100, 50)
+        lastCorrectino == time.time()
+        lastDirection = 1
+        continue
 
-    DriveBase.run(100)
\ No newline at end of file
+    elif rightColorSensor.reflection() < 10:
+        robotDriveBase.drive(-100, -50)
+        lastCorrectino = time.time()
+        lastDirection = -1
+        continue
+        
+    robotDriveBase.drive(-100, 50)
\ No newline at end of file

From bdfe43ec00a3d8b0ba948f62f2c592f22bdd04af Mon Sep 17 00:00:00 2001
From: Odin Grav <odin@grav.name>
Date: Wed, 17 Sep 2025 12:56:32 +0200
Subject: [PATCH 3/3] =?UTF-8?q?roboten=20f=C3=B8lger=20linjen?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 oving_3/main.py | 33 ++++++++++++++++++++-------------
 1 file changed, 20 insertions(+), 13 deletions(-)

diff --git a/oving_3/main.py b/oving_3/main.py
index e7c4963..b7189b5 100644
--- a/oving_3/main.py
+++ b/oving_3/main.py
@@ -34,13 +34,13 @@
 ]
 
 # 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)
@@ -48,27 +48,34 @@
 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