From e07670468c3ef0630cb728f5cd0cd35f853a9a50 Mon Sep 17 00:00:00 2001
From: unknown <legouser@laptop-01.linuxmuster.lan>
Date: Wed, 17 May 2023 18:41:35 +0200
Subject: [PATCH] =?UTF-8?q?Neue=20Motorzuweisung=20und=20Methode=20f=C3=BC?=
 =?UTF-8?q?r=20Drehung?=
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---
 iqrobot.py | 23 ++++++++++++++++++-----
 main.py    |  8 ++++----
 2 files changed, 22 insertions(+), 9 deletions(-)

diff --git a/iqrobot.py b/iqrobot.py
index 6a6f4f4..307b7d9 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, MotionSensor
 from spike.control import wait_for_seconds
 
 HELLO = "HELLO IQ"
@@ -17,7 +17,9 @@ class IQRobot:
         self.rightMotor: Motor = Motor(rightMotorPort)
         self.movementMotors: MotorPair = MotorPair(leftMotorPort, rightMotorPort) 
         #self.colorSensor: ColorSensor = ColorSensor(colorSensorPort)
-        self.hubMotor: Motor = Motor("F")
+        self.frontMotorLeft: Motor = Motor("C")
+        self.frontMotorRight: Motor = Motor("D")
+        self.motionSensor: MotionSensor = MotionSensor()
 
 
     def show(self, image: str):
@@ -39,13 +41,24 @@ class IQRobot:
         (red, green, blue, colorIntensity) = self.colorSensor.get_rgb_intensity()
         return colorIntensity
 
+    def drehe(self, grad=90):
+        self.motionSensor.reset_yaw_angle()
+        steering = 100 if grad > 0 else -100
+        self.movementMotors.start(steering=steering, speed=10)
+        while abs(self.motionSensor.get_yaw_angle()) < abs(grad):
+            pass
+        self.movementMotors.stop()
+
+
     def schreibeL(self):
         print("Schreibe L")
-        self.hubMotor.run_for_rotations(-0.06)
+        self.frontMotorRight.run_for_rotations(-0.1)
+        self.movementMotors.set_default_speed(20)
         self.movementMotors.move(5)
-        self.rightMotor.run_for_degrees(90)
+        #self.movementMotors.move(7, steering=100)
+        self.drehe(-90)
         self.movementMotors.move(2)
-        self.hubMotor.run_for_rotations(0.06)
+        self.frontMotorRight.run_for_rotations(0.1)
 
         # Fahre 5 cm rückwerts  
         # dann drehe nach rechts 90°
diff --git a/main.py b/main.py
index 8e7aa3e..6775d00 100644
--- a/main.py
+++ b/main.py
@@ -1,4 +1,4 @@
-# LEGO type:standard slot:5 autostart
+# LEGO type:standard slot:5
 
 import os, sys
 
@@ -71,9 +71,9 @@ dh auch an die Funktionen im importierten Code übergeben werde
 '''
 
 # Definiere an welchen Ports die Sensoren angeschlossen sind 
-COLOR_SENSOR_PORT = 'E'
-LEFT_MOTOR_PORT = 'D'
-RIGHT_MOTOR_PORT = 'A'
+COLOR_SENSOR_PORT = 'E' #not implemented yet
+LEFT_MOTOR_PORT = 'E'
+RIGHT_MOTOR_PORT = 'F'
 
 # Initialisieren des Hubs, der Aktoren und Sensoren
 hub = PrimeHub()