Fikset krasj under kjøring

IDATT1004-Team13-H2025 · Nov 5, 2025 · 4a8bbba · 4a8bbba
1 parent a930dd2
commit 4a8bbba
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Showing 3 changed files with 9 additions and 18 deletions.
diff --git a/py/src/main.py b/py/src/main.py
@@ -10,7 +10,6 @@
 
 try:
     from drive import Drive
-    from sensors import Sensors
     from robot import Robot
 
 except Exception as e:
@@ -29,8 +28,8 @@
 motors = (Motor(port=Port.D),      # Left motor for the drive base
           Motor(port=Port.C))      # Right motor for the drive base
 
-sensors = (ColorSensor(port=Port.S1),       # Lyssensor for å måle fargen på jorda
-           UltrasonicSensor(port=Port.S2))  # Ultrasonisksensor for å sjekke for potensielle hindringer robotten må navigere unna
+sensors = (Port.S3,       # Lyssensor for å måle fargen på jorda
+           Port.S1)  # Ultrasonisksensor for å sjekke for potensielle hindringer robotten må navigere unna
 
 robotDrive = Drive(motors, dimensions)  # Robottens kjørefunksjonalitet
 robot = Robot(robotDrive, *sensors) # EV3 robot

diff --git a/py/src/robot.py b/py/src/robot.py
@@ -8,15 +8,14 @@
 from pybricks.media.ev3dev import SoundFile, ImageFile
 
 from drive import Drive
-from sensors import Sensors
-from sensors import UltraSonic
+from sensors import UltraSonic, Colour
 
 class Robot():
-    def __init__(self, drive: Drive, colorSensor, ultrasonicSensor):
+    def __init__(self, drive: Drive, colorPort, ultrsonicPort):
         self.hub = EV3Brick()
         self.drive = drive
-        self.color = colorSensor
-        self.ultrasonic = ultrasonicSensor
+        self.color = Colour(colorPort)
+        self.ultrasonic = UltraSonic(ultrsonicPort)
 
 
     def start(self):
@@ -26,12 +25,9 @@ def start(self):
         while True:
             wait(50)
 
-            UltrasonicSensor = UltraSonic(Port.S2)
-
-            if UltrasonicSensor is None:
-                continue
+
 
-            if UltrasonicSensor.distanceLessThan(100):                
+            if self.ultrasonic.distanceLessThan(100):                
                 self.drive.stop(0)
                 self.hub.speaker.beep()
                 wait(1000)

diff --git a/py/src/sensors.py b/py/src/sensors.py
@@ -13,10 +13,6 @@
 GAMMEL SENSOR FUNKSJONALITET
 BEHOLDES FREM TIL NY FUNKSJONALITET ER IMPLEMENTERT
 """
-class Sensors():
-    def __init__(self, sensors: tuple):
-        self.color, self.ultrasonic = sensors
-
 
 
 """
@@ -39,7 +35,7 @@ def distanceLessThan(self, value):
                 return True
 
 
-class Color():
+class Colour():
     def __init__(self, sensorPort):
         self.sensor = ColorSensor(port=sensorPort)