From a3681d4288c92245cd274fb89fff8b12c459921b Mon Sep 17 00:00:00 2001
From: Martin Aronsen <martaron@stud.ntnu.no>
Date: Fri, 24 Oct 2025 13:08:32 +0200
Subject: [PATCH] Laget klasser
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Deklarert diverse klasser for funksjonalitet på robotten.
---
 py/src/color_sensor.py |  0
 py/src/drive.py        | 22 ++++++++++++++++++++++
 py/src/main.py         | 18 ++++++++++++++----
 py/src/robot.py        | 21 +++++++++++++++++++++
 py/src/sensors.py      | 17 +++++++++++++++++
 py/src/water.py        |  0
 py/src/water_bucket.py | 10 ++++++++++
 7 files changed, 84 insertions(+), 4 deletions(-)
 delete mode 100644 py/src/color_sensor.py
 create mode 100644 py/src/sensors.py
 delete mode 100644 py/src/water.py
 create mode 100644 py/src/water_bucket.py

diff --git a/py/src/color_sensor.py b/py/src/color_sensor.py
deleted file mode 100644
index e69de29..0000000
diff --git a/py/src/drive.py b/py/src/drive.py
index e9051b7..d8fa68c 100644
--- a/py/src/drive.py
+++ b/py/src/drive.py
@@ -1,2 +1,24 @@
 #Fil for programmering av kjøring
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
+                                 InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import Port, Stop, Direction, Button, Color
+from pybricks.robotics import DriveBase
 
+
+class Drive():
+    def __init__(self, motors: tuple, dimensions: tuple):
+        leftMotor, rightMotor = motors
+        wheelDiameter, axleTrack = dimensions
+        
+
+        self.driveBase = DriveBase(leftMotor, rightMotor, 
+                        wheel_diameter=wheelDiameter, axle_track=axleTrack)
+        
+    
+    def forward(self, speed):
+        pass
+
+    def backward(self, speed):
+        pass
+    
\ No newline at end of file
diff --git a/py/src/main.py b/py/src/main.py
index 9e9700f..5cf4150 100644
--- a/py/src/main.py
+++ b/py/src/main.py
@@ -7,14 +7,24 @@
 from pybricks.robotics import DriveBase
 from pybricks.media.ev3dev import SoundFile, ImageFile
 
+from drive import Drive
+from sensors import Sensors
+from robot import Robot
+
 
 # This program requires LEGO EV3 MicroPython v2.0 or higher.
 # Click "Open user guide" on the EV3 extension tab for more information.
 
+dimensions = (    # Wheel diamter
+                ) #Axle track
+
+motors = (Motor(port=Port.D),      # Left motor for the drive base
+          Motor(port=Port.A))      # Right motor for the drive base
 
-# Create your objects here.
-ev3 = EV3Brick()
+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
 
+robotDrive = Drive(motors, dimensions)  # Robottens kjørefunksjonalitet
+robotSensors = Sensors(sensors)         # Robottens sensorfunksjonalitet
 
-# Write your program here.
-ev3.speaker.beep()
+robot = Robot(robotDrive, robotSensors) # EV3 robot
diff --git a/py/src/robot.py b/py/src/robot.py
index e69de29..dd2c32f 100644
--- a/py/src/robot.py
+++ b/py/src/robot.py
@@ -0,0 +1,21 @@
+#Overklasse for all robot funksjonalitet
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
+                                 InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import Port, Stop, Direction, Button, Color
+from pybricks.tools import wait, StopWatch, DataLog
+from pybricks.robotics import DriveBase
+from pybricks.media.ev3dev import SoundFile, ImageFile
+
+from drive import Drive
+from sensors import Sensors
+
+class Robot():
+    def __init__(self, drive: Drive, sensors: Sensors):
+        self.hub = EV3Brick()
+        self.drive = drive
+        self.sensors = sensors
+
+    
+
diff --git a/py/src/sensors.py b/py/src/sensors.py
new file mode 100644
index 0000000..d9e2f0e
--- /dev/null
+++ b/py/src/sensors.py
@@ -0,0 +1,17 @@
+
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
+                                 InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import Port, Stop, Direction, Button, Color
+from pybricks.tools import wait, StopWatch, DataLog
+from pybricks.robotics import DriveBase
+from pybricks.media.ev3dev import SoundFile, ImageFile
+
+class Sensors():
+    def __init__(self, colorSensor: ColorSensor, ultrasonicSensor: UltrasonicSensor):
+
+        self.color = colorSensor
+        self.ultrasonic = ultrasonicSensor
+
+        
\ No newline at end of file
diff --git a/py/src/water.py b/py/src/water.py
deleted file mode 100644
index e69de29..0000000
diff --git a/py/src/water_bucket.py b/py/src/water_bucket.py
new file mode 100644
index 0000000..d321f16
--- /dev/null
+++ b/py/src/water_bucket.py
@@ -0,0 +1,10 @@
+
+#!/usr/bin/env pybricks-micropython
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
+                                 InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import Port, Stop, Direction, Button, Color
+
+
+class WaterBucket:
+    def __init__(self):
+        pass
\ No newline at end of file