I71 (#72)

* start detect marker

* stop on blue

ev3/followLine.py

@@ -8,8 +8,8 @@
 class FollowLine:
  # From https://gist.github.com/CS2098/ecb3a078ed502c6a7d6e8d17dc095b48
  MOTOR_SPEED = 700
- KP = 20
- KD = 0.1 # derivative gain medium
+ KP = 10
+ KD = 0.5 # derivative gain medium
  KI = 0 # integral gain lowest
  DT = 50 # milliseconds - represents change in time since last sensor reading/
 
@@ -38,19 +38,19 @@ def __init__(self):
 
  self.consecutive_colours = 0 # counter for consecutive colour readings
 
-
  self.runner = None
 
  def detect_marking(self):
  colour = self.csb.value()
- if colour == 3: # green
+ if colour == 3 or colour == 2: # 3 = green 2 = blue
  self.consecutive_colours += 1
  print("CONSECUTIVE COLOURS: ", self.consecutive_colours)
  if self.consecutive_colours > self.MARKING_NUMBER:
- return True
+ return colour
  else:
  self.consecutive_colours = 0
- return False
+ return -1
+
 
  @staticmethod
  def on_line(sensor_value, position):
@@ -67,6 +67,7 @@ def correct_trajectory(self, csfl, csfr, lm, rm, number_of_markers):
  marker_counter = 0
  start_time = 0
  interval_between_colors = 2 # time between marker checks in seconds
+
  while not self.shut_down:
  lval = csfl.value()
  rval = csfr.value()
@@ -100,16 +101,24 @@ def correct_trajectory(self, csfl, csfr, lm, rm, number_of_markers):
 
  previous_error = error
 
- #Check markers
- if (time() - start_time > interval_between_colors):
- if self.detect_marking():
+ # Check markers
+ if time() - start_time > interval_between_colors:
+ # returns 3 if green, 2 if blue
+ marker_colour = self.detect_marking()
+ if marker_colour == 3:
+ # stop after given number of greens
  marker_counter += 1
  start_time = time()
- if (marker_counter >= number_of_markers):
+ if marker_counter >= number_of_markers:
  self.stop()
+ elif marker_colour == 2:
+ # stop on blue marker
+ self.stop()
+
+
 
  def run(self, number_of_markers):
- self.correct_trajectory(self.csfl, self.csfr, self.lm, self.rm,number_of_markers)
+ self.correct_trajectory(self.csfl, self.csfr, self.lm, self.rm, number_of_markers)
  self.stop()
 
  def stop(self):
@@ -118,7 +127,7 @@ def stop(self):
  self.lm.stop()
  ev3.Sound.speak("yeet").wait()
 
- def start(self,number_of_markers):
+ def start(self, number_of_markers):
  self.shut_down = False
  self.runner = Thread(target=self.run, name='move', args=(number_of_markers,))
  self.runner.start()