From 377195855a429dd3b4cb4e302e11f209806f31ae Mon Sep 17 00:00:00 2001
From: vilenne <vilenne@ELE-maker2.linuxmuster.lan>
Date: Wed, 15 Mar 2023 19:03:33 +0100
Subject: [PATCH] =?UTF-8?q?DistanceSensor=20hinzugef=C3=BCgt=20+=20getDIst?=
 =?UTF-8?q?ance=20Methode=20hinzugef=C3=BCgt?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 iqrobot.py | 35 +++++++++++++++++++++++++----------
 main.py    | 30 ++++++++++++++++--------------
 2 files changed, 41 insertions(+), 24 deletions(-)

diff --git a/iqrobot.py b/iqrobot.py
index 10d81cd..7f3551d 100644
--- a/iqrobot.py
+++ b/iqrobot.py
@@ -1,6 +1,6 @@
 # LEGO type:standard slot:6 autostart
 
-from spike import PrimeHub, Motor, MotorPair, ColorSensor
+from spike import PrimeHub, Motor, MotorPair, ColorSensor, DistanceSensor
 from spike.control import wait_for_seconds
 
 HELLO = "HELLO IQ"
@@ -12,14 +12,22 @@ damit man dann später auch wieder Code Completion hat bei Nutzung der Variablen
 '''
 class IQRobot:
 
-    def __init__(self, hub: PrimeHub, leftMotorPort: str, rightMotorPort: str, colorSensorPort: str, stickMotorPort: str, gabelMotorPort: str):
+    def __init__(self, hub: PrimeHub, leftMotorPort: str, rightMotorPort: str, colorSensorPort: str, stickMotorPort: str, gabelMotorPort: str, distanceSensorPort: str):
         self.hub: PrimeHub = hub
-        self.leftMotor: Motor = Motor(leftMotorPort)
-        self.rightMotor: Motor = Motor(rightMotorPort)
-        self.movementMotors: MotorPair = MotorPair(leftMotorPort, rightMotorPort) 
-        self.colorSensor: ColorSensor = ColorSensor(colorSensorPort)
-        self.stickMotor: Motor = Motor(stickMotorPort)
-        self.gabelMotor: Motor = Motor(gabelMotorPort)
+        if (leftMotorPort != ''):
+            self.leftMotor: Motor = Motor(leftMotorPort)
+        if (rightMotorPort != ''):
+            self.rightMotor: Motor = Motor(rightMotorPort)
+        if (leftMotorPort != '' and rightMotorPort != ''):
+            self.movementMotors: MotorPair = MotorPair(leftMotorPort, rightMotorPort) 
+        if (colorSensorPort != ''):
+            self.colorSensor: ColorSensor = ColorSensor(colorSensorPort)
+        if (stickMotorPort != ''):
+            self.stickMotor: Motor = Motor(stickMotorPort)
+        if (gabelMotorPort != ''):
+            self.gabelMotor: Motor = Motor(gabelMotorPort)
+        if (distanceSensorPort != ''):
+            self.distanceSensor: DistanceSensor = DistanceSensor(distanceSensorPort)
 
     def show(self, image: str):
         '''
@@ -71,5 +79,12 @@ class IQRobot:
         #Bewege sanft und langsam die Schleuderstange am hinteren Rumpf des Geräts
         self.gabelMotor.run_for_degrees(degrees)
 
-
-print("Loading library IQRobot in version " + VERSION)
\ No newline at end of file
+    def getDistance (self) :
+        cmDistance = self.distanceSensor.get_distance_cm(short_range=False)
+        return cmDistance
+    
+    def getShortDistance (self) :
+        cmDistance = self.distanceSensor.get_distance_cm(short_range=True)
+        return cmDistance
+    
+    print("Loading library IQRobot in version " + VERSION)
\ No newline at end of file
diff --git a/main.py b/main.py
index 91baf87..ab0bd36 100644
--- a/main.py
+++ b/main.py
@@ -56,21 +56,22 @@ import iqrobot as iq
 print(iq.HELLO) 
 
 # Definiere an welchen Ports die Sensoren angeschlossen sind 
-COLOR_SENSOR_PORT = 'E'
-LEFT_MOTOR_PORT = 'A'
-RIGHT_MOTOR_PORT = 'B'
-STICK_MOTOR_PORT = 'C'
-GABEL_MOTOR_PORT = 'D'
+
+COLOR_SENSOR_PORT = ''
+LEFT_MOTOR_PORT = ''
+RIGHT_MOTOR_PORT = ''
+STICK_MOTOR_PORT = ''
+GABEL_MOTOR_PORT = ''
+DISTANCE_SENSOR_PORT = 'F'
 
 # Initialisieren des Hubs, der Aktoren und Sensoren
 hub = PrimeHub()
 
 # Initialisiere Robot Klasse mit unseren Funktionen
-iqRobot: iq.IQRobot = iq.IQRobot(hub, LEFT_MOTOR_PORT, RIGHT_MOTOR_PORT, COLOR_SENSOR_PORT, STICK_MOTOR_PORT, GABEL_MOTOR_PORT)
+iqRobot: iq.IQRobot = iq.IQRobot(hub, LEFT_MOTOR_PORT, RIGHT_MOTOR_PORT, COLOR_SENSOR_PORT, STICK_MOTOR_PORT, GABEL_MOTOR_PORT, DISTANCE_SENSOR_PORT)
 
 '''
-while(True):
-    print('DIE FARBE IST ', iqRobot.colorSensor.get_color())
+while(True):iqRobot.moveGabel(50)or())
     if (iqRobot.colorSensor.get_color() == "cyan"):
         iqRobot.driveForward_for_sec(1)
         print('Blau du Affe')
@@ -81,11 +82,12 @@ while(True):
         print('Keine Farbe!')
 '''
 
-iqRobot.moveGabel(50)
-
-
-
-
-
 
+while (True):
+    print('Kurz:' + str(iqRobot.getShortDistance()))
+    wait_for_seconds(1)
 
+    '''
+    print('Lang:' + str(iqRobot.getDistance()))
+    wait_for_seconds(5)
+    '''