From 4a8bbba5449aaf2bab91bf0c726ad560259894f2 Mon Sep 17 00:00:00 2001
From: Robin Strand Prestmo <robinsp@stud.ntnu.no>
Date: Wed, 5 Nov 2025 09:46:02 +0100
Subject: [PATCH] =?UTF-8?q?Fikset=20krasj=20under=20kj=C3=B8ring?=
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---
 py/src/main.py    |  5 ++---
 py/src/robot.py   | 16 ++++++----------
 py/src/sensors.py |  6 +-----
 3 files changed, 9 insertions(+), 18 deletions(-)

diff --git a/py/src/main.py b/py/src/main.py
index 71fcee3..08eb296 100644
--- 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
index 3416a91..e1d5d6c 100644
--- 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
index d3f83ae..84037fd 100644
--- 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)