From e25bac778eff1fb4afe76252594f797ce2bb5ffc Mon Sep 17 00:00:00 2001
From: janis <jahu04@outlook.com>
Date: Mon, 27 Jun 2022 15:07:47 +0200
Subject: [PATCH] FollowTheLine

---
 .idea/micro_bit_interface.iml                 |  6 ++-
 .idea/misc.xml                                |  2 +-
 .../micro_bit_soft/follow_the_line/ftl.py     | 47 ++++++++++++-------
 .../follow_the_line/ftl_dumb_version.py       | 17 +++++++
 .../micro_bit_soft/follow_the_line/run.py     |  4 +-
 5 files changed, 53 insertions(+), 23 deletions(-)
 create mode 100644 bin/micro_bit/micro_bit_soft/follow_the_line/ftl_dumb_version.py

diff --git a/.idea/micro_bit_interface.iml b/.idea/micro_bit_interface.iml
index d0876a7..7c8b463 100644
--- a/.idea/micro_bit_interface.iml
+++ b/.idea/micro_bit_interface.iml
@@ -1,8 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/venv" />
+    </content>
+    <orderEntry type="jdk" jdkName="Python 3.10 (micro_bit_interface)" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index dc9ea49..281858d 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10 (micro_bit_interface)" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file
diff --git a/bin/micro_bit/micro_bit_soft/follow_the_line/ftl.py b/bin/micro_bit/micro_bit_soft/follow_the_line/ftl.py
index 84bb9cd..f014c46 100644
--- a/bin/micro_bit/micro_bit_soft/follow_the_line/ftl.py
+++ b/bin/micro_bit/micro_bit_soft/follow_the_line/ftl.py
@@ -1,29 +1,40 @@
 import maqueen_driver
-import microbit
-import music
 
 md = maqueen_driver.Driver()
 
+
 class FollowTheLine:
     def __init__(self):
         self.__activated = 0
+        self.__repeated = 0
 
     def run(self):
         while True:
-            if md.getDistance() < 20:
-                md.stop()
-                md.setLEDs(on=1)
-                music.pitch(440, 20)
-            else:
-                if md.getLineTracker(1) == 0:
-                    self.__activated = 0
-                    md.motor(0, 100, 0, 255)
-                elif md.getLineTracker(2) == 0:
-                    self.__activated = 0
-                    md.motor(0, 255, 0, 100)
+            if md.getLineTracker(1) == 0:
+                self.__activated = 0
+                if self.__repeated >= 75 and self.__repeated < 150:
+                    self.__repeated += 1
+                    md.motor(0, 10, 0, 100)
+                elif self.__repeated >= 100:
+                    md.motor(0, 0, 0, 100)
                 else:
-                    if self.__activated <= 50:
-                        self.__activated += 1
-                        md.motor(0, 140, 0, 140)
-                    else:
-                        md.motor(0, 255, 0, 255)
+                    self.__repeated += 1
+                    md.motor(0, 50, 0, 100)
+            elif md.getLineTracker(2) == 0:
+                self.__activated = 0
+                self.__repeated += 1
+                if self.__repeated >= 75 and self.__repeated < 150:
+                    self.__repeated += 1
+                    md.motor(0, 100, 0, 10)
+                elif self.__repeated >= 100:
+                    md.motor(0, 100, 0, 0)
+                else:
+                    self.__repeated += 1
+                    md.motor(0, 100, 0, 50)
+            else:
+                self.__repeated = 0
+                if self.__activated <= 2000:
+                    self.__activated += 1
+                    md.motor(0, 100, 0, 100)
+                else:
+                    md.motor(0, 255, 0, 255)
diff --git a/bin/micro_bit/micro_bit_soft/follow_the_line/ftl_dumb_version.py b/bin/micro_bit/micro_bit_soft/follow_the_line/ftl_dumb_version.py
new file mode 100644
index 0000000..56e33c4
--- /dev/null
+++ b/bin/micro_bit/micro_bit_soft/follow_the_line/ftl_dumb_version.py
@@ -0,0 +1,17 @@
+import maqueen_driver
+
+md = maqueen_driver.Driver()
+
+
+class FollowTheLineDumnb:
+    def __init__(self):
+        pass
+
+    def run(self):
+        while True:
+            if md.getLineTracker(1) == 1:
+                md.motor(0, 10, 0, 75)
+            elif md.getLineTracker(2) == 2:
+                md.motor(0, 75, 0, 10)
+            else:
+                md.motor(0, 75, 0, 75)
diff --git a/bin/micro_bit/micro_bit_soft/follow_the_line/run.py b/bin/micro_bit/micro_bit_soft/follow_the_line/run.py
index 4ba7bbf..c0e2ba8 100644
--- a/bin/micro_bit/micro_bit_soft/follow_the_line/run.py
+++ b/bin/micro_bit/micro_bit_soft/follow_the_line/run.py
@@ -1,3 +1,3 @@
-import ftl
+import ftl_dumb_version
 
-ftl.FollowTheLine().run()
+ftl_dumb_version.FollowTheLineDumnb().run()