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- #pragma config(Sensor, S1, Druck, sensorEV3_Touch)
- #pragma config(Sensor, S2, Gyro, sensorEV3_Gyro)
- #pragma config(Sensor, S3, Farbe, sensorEV3_Color)
- #pragma config(Sensor, S4, Ultraschall, sensorEV3_Ultrasonic)
- #pragma config(Motor, motorA, armMotor, tmotorEV3_Medium, PIDControl, encoder)
- #pragma config(Motor, motorB, leftMotor, tmotorEV3_Large, PIDControl, driveLeft, encoder)
- #pragma config(Motor, motorC, rightMotor, tmotorEV3_Large, PIDControl, driveRight, encoder)
- //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
- task main()
- {
- int iGrad = 0;
- int iHelligkeit = 0;
- bool bLinienende = false;
- while (bLinienende == false) {
- iHelligkeit = getColorReflected(S3);
- if (iHelligkeit < 45) {
- setMotorSpeed(motorB, 20);
- setMotorSpeed(motorC, 20);
- } else {
- resetGyro(S2);
- iGrad = getGyroDegrees(S2);
- while (iGrad < 30 && iHelligkeit > 45) {
- setMotorSpeed(motorB, -10);
- setMotorSpeed(motorC, 10);
- iHelligkeit = getColorReflected(S3);
- iGrad = getGyroDegrees(S2);
- }
- while (iGrad > -30 && iHelligkeit > 45) {
- setMotorSpeed(motorB, 10);
- setMotorSpeed(motorC, -10);
- iHelligkeit = getColorReflected(S3);
- iGrad = getGyroDegrees(S2);
- }
- while (iGrad < 0 && iHelligkeit > 45) {
- setMotorSpeed(motorB, -10);
- setMotorSpeed(motorC, 10);
- iHelligkeit = getColorReflected(S3);
- iGrad = getGyroDegrees(S2);
- bLinienende = true;
- }
- }
- }
- }
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