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| 1 | # Write your code here :-) | |
| 2 | from microbit import * | |
| 3 | import math | |
| 4 | import neopixel | |
| 5 | ||
| 6 | np = neopixel.NeoPixel(pin13, 12) | |
| 7 | ||
| 8 | def funcVSpeed(var): # Lager enklere funksjonsnavn for å lettere kunne lese koden. | |
| 9 | pin0.write_analog(var) # Parameteren heter "var" fordi "dir" og "speed" brukes senere | |
| 10 | def funcVDir(var): | |
| 11 | pin8.write_digital(var) | |
| 12 | def funcHSpeed(var): | |
| 13 | pin1.write_analog(var) | |
| 14 | def funcHDir(var): | |
| 15 | pin12.write_digital(var) | |
| 16 | ||
| 17 | def fill(r, g, b): # Fyller alle pixels med en farge. | |
| 18 | for i in range(0, len(np)): | |
| 19 | np[i] = (r, g, b) | |
| 20 | def vFill(r, g, b): # Fyller venstre pixels med en farge. | |
| 21 | for i in range(0, math.floor(len(np)/2)): | |
| 22 | np[i] = (r, g, b) | |
| 23 | def hFill(r, g, b): # Fyller høyre pixels med en farge. | |
| 24 | for i in range(math.floor(len(np)/2), len(np)): | |
| 25 | np[i] = (r, g, b) | |
| 26 | ||
| 27 | ||
| 28 | def drive(vDir, vSpeed, hDir, hSpeed): | |
| 29 | funcVSpeed(math.floor(vSpeed*1023)) # Vil at input speed skal være mellom 0 og 1 | |
| 30 | funcVDir(vDir) | |
| 31 | funcHSpeed(math.floor(hSpeed*1023)) | |
| 32 | funcHDir(hDir) | |
| 33 | fill(0, 0, 0) # Clearer diodene | |
| 34 | if vSpeed+vDir != 0 and vSpeed+vDir != 2 and hSpeed+hDir != 0 and hSpeed+hDir != 2 : # Ikke stillestående | |
| 35 | if vDir == 0: # Framover venstre | |
| 36 | vFill(0, 255, 0) | |
| 37 | if hDir == 0: # Framover høyre | |
| 38 | hFill(0, 255, 0) | |
| 39 | if vDir == 1: # Bakover venstre | |
| 40 | vFill(255, 0, 0) | |
| 41 | if hDir == 1: # Bakover høyre | |
| 42 | hFill(255, 0, 0) | |
| 43 | np.show() | |
| 44 | ||
| 45 | def weiter(inputSpeed): # Fremad | |
| 46 | drive(0, inputSpeed, 0, inputSpeed) | |
| 47 | def ruckwarts(inputSpeed): # Bakover | |
| 48 | drive(1, 1-inputSpeed, 1, 1-inputSpeed) | |
| 49 | def links(inputSpeed): # Venstre | |
| 50 | drive(1, 1-inputSpeed, 0, inputSpeed) | |
| 51 | def rechts(inputSpeed): # Høyre | |
| 52 | drive(0, inputSpeed, 1, 1-inputSpeed) | |
| 53 | def halt(): # Stopp | |
| 54 | drive(0, 0, 0, 0) | |
| 55 | ||
| 56 | # Definerer funskjoner med gitt varighet | |
| 57 | ||
| 58 | def weiterFor(inputSpeed, duration): # Fremad | |
| 59 | drive(0, inputSpeed, 0, inputSpeed) | |
| 60 | sleep(duration) | |
| 61 | drive(0, 0, 0, 0) | |
| 62 | def ruckwartsFor(inputSpeed, duration): # Bakover | |
| 63 | drive(1, 1-inputSpeed, 1, 1-inputSpeed) | |
| 64 | sleep(duration) | |
| 65 | drive(0, 0, 0, 0) | |
| 66 | def linksFor(inputSpeed, duration): # Venstre | |
| 67 | drive(1, 1-inputSpeed, 0, inputSpeed) | |
| 68 | sleep(duration) | |
| 69 | drive(0, 0, 0, 0) | |
| 70 | def rechtsFor(inputSpeed, duration): # Høyre | |
| 71 | drive(0, inputSpeed, 1, 1-inputSpeed) | |
| 72 | sleep(duration) | |
| 73 | drive(0, 0, 0, 0) | |
| 74 | ||
| 75 | # Her begynner kjøreinstruksjoner | |
| 76 | ||
| 77 | ||
| 78 | weiterFor(0.2, 1000) | |
| 79 | linksFor(0.2, 1000) | |
| 80 | weiterFor(0.2, 1000) | |
| 81 | rechtsFor(0.2, 2000) | |
| 82 | ruckwartsFor(0.2, 1000) | |
| 83 | linksFor(0.2, 1000) | |
| 84 | ruckwartsFor(0.2, 1000) | |
| 85 | rechtsFor(1, 2500) |
