Changed the whole system

py/src/drive.py

@@ -7,6 +7,9 @@
 
 
 class Drive():
+
+    angle = 90
+
     def __init__(self, motors: tuple, dimensions: tuple):
         leftMotor, rightMotor = motors
         wheelDiameter, axleTrack = dimensions
@@ -22,11 +25,11 @@ def forward(self, speed):
     def backward(self, speed):
         self.driveBase.drive(-abs(speed), 0 )
 
-    def left(self, speed):
-        self.driveBase.drive(speed, 90)
+    def setTurnAngle(self, value: int):
+        self.angle = value
 
-    def right(self, speed):
-        self.driveBase.turn(90)
+    def turn(self, direction):
+        self.driveBase.turn(self.angle * direction)
 
     def stop(self, brakeType):
         self.driveBase.drive(0,0)

py/src/main.py

@@ -19,18 +19,23 @@
         wait(50)
 
 
-# This program requires LEGO EV3 MicroPython v2.0 or higher.
-# Click "Open user guide" on the EV3 extension tab for more information.
 
+"""FIN JUSTER DISSE VERDIENE"""
 dimensions = ( 47,   # Wheel diamter
-               140 ) #Axle track
+               145 ) #Axle track
 
-motors = (Motor(port=Port.D),      # Left motor for the drive base
-          Motor(port=Port.C))      # Right motor for the drive base
 
-sensors = (Port.S3,       # Lyssensor for å måle fargen på jorda
-           Port.S1)  # Ultrasonisksensor for å sjekke for potensielle hindringer robotten må navigere unna
+motors = (Motor(port=Port.C),      # Left motor for the drive base
+          Motor(port=Port.D))      # Right motor for the drive base
+
+bucketPort = Port.B                # Port spec for the bucket motor
+
+sensors = (Port.S4,                # Lyssensor for å måle fargen på jorda
+           Port.S3)                # Ultrasonisksensor for å sjekke for potensielle hindringer robotten må navigere unna
 
 robotDrive = Drive(motors, dimensions)  # Robottens kjørefunksjonalitet
 robot = Robot(robotDrive, *sensors) # EV3 robot
+
+robot.initWaterBucketMotor(bucketPort)
+robot.setBucketAngle(125)
 robot.start()

py/src/robot.py

@@ -9,37 +9,77 @@
 
 from drive import Drive
 from sensors import UltraSonic, Colour
+from water_bucket import WaterBucket
 
 class Robot():
+
+    waterBucket = None
+    controlDistance = 100
+    requiredReflection = 7
+    nextDirection = 1
+
     def __init__(self, drive: Drive, colorPort, ultrsonicPort):
         self.hub = EV3Brick()
         self.drive = drive
         self.color = Colour(colorPort)
         self.ultrasonic = UltraSonic(ultrsonicPort)
-
+
+    def initWaterBucketMotor(self, motorPort, rotationDirection=Direction.CLOCKWISE):
+        self.waterBucket = WaterBucket(motorPort, rotationDirection)
 
+    def setControlDistance(self, value: int):
+        self.controlDistance = value
+
+    def setRequiredReflection(self, value: int):
+        self.requiredReflection
+
+    def setBucketSpeed(self, value: int):
+        self.waterBucket.setSpeed(value)
+
+    def setBucketAngle(self, value: int):
+        self.waterBucket.setTargetAngle(value)
+
+
+    def say(self, string: str):
+        self.hub.speaker.say(string)
+
     def start(self):
         self.speed = 150
         self.drive.forward(self.speed)
 
         while True:
             wait(50)
-
-
+            print(self.waterBucket.motor.angle())
 
             if self.ultrasonic.distanceLessThan(100):                
                 self.drive.stop(0)
                 self.hub.speaker.beep()
                 wait(1000)
                 self.drive.backward(self.speed)
                 wait(1000)
-                self.drive.right(self.speed)
+                self.drive.turn(self.nextDirection)
                 wait(1000)
                 self.drive.forward(self.speed)
                 wait(1000)
-                self.drive.right(self.speed)
+                self.drive.turn(self.nextDirection)
                 wait(1000)
+                self.nextDirection *= -1
                 self.drive.forward(self.speed)
+
+
+
+
+            if self.color.reflectionGreaterThan(self.requiredReflection) and not self.waterBucket.checkIfOpen():
+                if self.waterBucket is not None:
+                    self.waterBucket.releaseWater()
+                    print("Opening...")
+                else:
+                    self.say("Releasing water")
+            elif not self.color.reflectionGreaterThan(self.requiredReflection) and self.waterBucket.checkIfOpen():
+                if self.waterBucket is not None:
+                    print("Closing...")
+                    self.waterBucket.close()
+
 
 
     def stop(self):

py/src/sensors.py

@@ -9,11 +9,6 @@
 
 from pybricks.nxtdevices import TemperatureSensor
 
-"""
-GAMMEL SENSOR FUNKSJONALITET
-BEHOLDES FREM TIL NY FUNKSJONALITET ER IMPLEMENTERT
-"""
-
 
 """
 NY SENSOR FUNKSJONALITET

py/src/water_bucket.py

@@ -5,5 +5,32 @@
 
 
 class WaterBucket:
-    def __init__(self):
-        pass
+
+    speed = 100
+    angle = 45
+
+    def __init__(self, motorPort, rotationDirection):
+        self.motor = Motor(port=motorPort, positive_direction=rotationDirection)
+        self.isOpen = False
+
+    def releaseWater(self):
+        if not self.isOpen:
+            self.motor.run_angle(self.speed, self.angle)
+            self.isOpen = True
+
+    def close(self):
+        if self.isOpen:
+            self.motor.run_angle(self.speed, -self.getAngle())
+            self.isOpen = False
+
+    def setSpeed(self, value: int):
+        self.speed = value
+
+    def setTargetAngle(self, value: int):
+        self.angle = value
+
+    def checkIfOpen(self):
+        return self.isOpen
+
+    def getAngle(self):
+        return self.motor.angle()