ev3 Code

def reset_motors():
    m1.off()
    m2.off()
    m4.off()

def color_map():
    if c_exists:
        if c.value() > 1:
            return "White"
        else:
            return "Black"
    else:
        return "No reading"

def move_and_scan():
    c.mode='COL-COLOR'
    i = 0; cols = []
    while len(cols) != 4:
        reset_motors()
        time.sleep(0.5)
        cols.append(color_map())
        if len(cols) == 4:
            break
        m1.on(-3)
        m2.on(-3)
        time.sleep(0.7)
    reset_motors()
    print(cols)

def iGPS_math(a, c, d):
    """Returns the x and y coordinates relative to
    the origin, given radial distances a, b, and d"""
    C_TO_A = 120 # the absolute distance between tower C and tower A
    C_TO_D = 96 # the absolute distance between tower C and tower D
    _theta = law_of_cosines(a,C_TO_A,c)
    _lambda = law_of_cosines(d,C_TO_D,c)
    print(_lambda)
    x = (math.sin(_theta) * a) + 6
    y = 108 - math.sin(_lambda) * d + 6
    return x, y

def iGPS():
    a = float(input("[a?]>"))
    c = float(input("[c?]>"))
    d = float(input("[d?]>"))
    loc = iGPS_math(a,c,d)
    print("x: {}, y: {}".format(loc[0], loc[1]))