commit by robo pro coding

.project.json

+{"uuid":"4b9d875a-1e6c-414e-bd37-19775d09d755","name":"Advanced_2_wheeled_robot_4","mode":"ADVANCED","version":"1.0","controller":"RX"}
\ No newline at end of file

Advanced_2_wheeled_robot_4.py

+import asyncio
+import random
+import user.lib.controller as controller
+from fischertechnik.controller.Motor import Motor
+from fischertechnik.logging import log as print
+
+speed = None
+directions = None
+
+
+async def backward(speed):
+    global directions
+    controller.RX_M1_motor.set_speed(int(speed), Motor.CW)
+    controller.RX_M1_motor.start()
+    controller.RX_M2_motor.set_speed(int(speed), Motor.CW)
+    controller.RX_M2_motor.start()
+
+
+async def forward(speed):
+    global directions
+    controller.RX_M1_motor.set_speed(int(speed), Motor.CCW)
+    controller.RX_M1_motor.start()
+    controller.RX_M2_motor.set_speed(int(speed), Motor.CCW)
+    controller.RX_M2_motor.start()
+
+
+async def turn_left():
+    global speed, directions
+    controller.RX_M1_motor.set_speed(int(250), Motor.CW)
+    controller.RX_M1_motor.start()
+    controller.RX_M2_motor.set_speed(int(250), Motor.CCW)
+    controller.RX_M2_motor.start()
+
+
+async def turn_right():
+    global speed, directions
+    controller.RX_M1_motor.set_speed(int(250), Motor.CCW)
+    controller.RX_M1_motor.start()
+    controller.RX_M2_motor.set_speed(int(250), Motor.CW)
+    controller.RX_M2_motor.start()
+
+
+async def stop():
+    global speed, directions
+    controller.RX_M1_motor.stop()
+    controller.RX_M2_motor.stop()
+
+
+async def follow_line():
+    global speed, directions
+    while ((controller.RX_I7_trail_follower.get_state() == 0) or (controller.RX_I8_trail_follower.get_state() == 0)) and (controller.RX_I2C_1_gesture_sensor.get_proximity()) < 240:
+        if controller.RX_I8_trail_follower.get_state() == 1:
+            await turn_left()
+            await asyncio.sleep(0.05)
+        if controller.RX_I7_trail_follower.get_state() == 1:
+            await turn_right()
+            await asyncio.sleep(0.05)
+        if (controller.RX_I7_trail_follower.get_state() == 0) and (controller.RX_I8_trail_follower.get_state() == 0):
+            await forward(250)
+        await asyncio.sleep(0.01)
+    if (controller.RX_I2C_1_gesture_sensor.get_proximity()) >= 240:
+        await backward(250)
+        await asyncio.sleep(1)
+        if 1 == random.randint(1, 2):
+            directions = 'Right'
+            await turn_right()
+        else:
+            directions = 'Left'
+            await turn_left()
+        await asyncio.sleep(0.5)
+
+
+async def find_line(directions):
+    global speed
+    while (controller.RX_I7_trail_follower.get_state() == 1) and (controller.RX_I8_trail_follower.get_state() == 1):
+        if directions == 'Right':
+            await turn_right()
+        else:
+            await turn_left()
+        await asyncio.sleep(0.01)
+
+
+async def run(instance):
+    global speed, directions
+    await controller.init(instance)
+    controller.RX_I2C_1_gesture_sensor.enable_proximity()
+    directions = 'Left'
+    while True:
+        await find_line(directions)
+        await follow_line()
+        await asyncio.sleep(0.01)

lib/controller.blockly

+<xml xmlns="https://developers.google.com/blockly/xml" version="15"><block type="rx_controller" id="F{dqcdhfNR!daaA/Amcp" x="18" y="8"><mutation><arg type="Input" name="Input-1" value="I7"/><arg type="Input" name="Input-2" value="I8"/><arg type="Input" name="Input-0" value="-"/><arg type="Output" name="Output-0" value="-"/><arg type="Motor" name="Motor-0" value="M1"/><arg type="Motor" name="Motor-1" value="M2"/><arg type="Motor" name="Motor-2" value="-"/><arg type="I2C" name="I2C-0" value="I2C_1"/><arg type="I2C" name="I2C-1" value="-"/></mutation><field name="controller_name">RX</field><field name="Input-1">I7</field><field name="Input-2">I8</field><field name="Input-0">-</field><field name="Output-0">-</field><field name="Motor-0">M1</field><field name="Motor-1">M2</field><field name="Motor-2">-</field><field name="I2C-0">I2C_1</field><field name="I2C-1">-</field><value name="Input-1"><block type="trail_follower" id="U4]r+{fsm~ciQyQHS$xn"/></value><value name="Input-2"><block type="trail_follower" id="|Wyj4^V*L.J!b8SVC(Gd"/></value><value name="Motor-0"><block type="motor" id="SD/n[+bi,BfGY~A=zm:W"/></value><value name="Motor-1"><block type="motor" id="Kfl.c){Uc6NV*s@jGRWn"/></value><value name="I2C-0"><block type="gesture_sensor" id=")nuf/Hy7N3)uO,7+g[Mq"/></value></block></xml>
\ No newline at end of file

lib/controller.py

+import asyncio
+import fischertechnik.factories as rx_factory
+from fischertechnik.logging import log as print
+
+async def init(controller):
+    global RX_I7_trail_follower
+    global RX_I8_trail_follower
+    global RX_M1_motor
+    global RX_M2_motor
+    global RX_I2C_1_gesture_sensor
+    rx_factory.init_controller_factory()
+    rx_factory.init_input_factory()
+    rx_factory.init_motor_factory()
+    rx_factory.init_i2c_factory()
+    RX_I7_trail_follower = rx_factory.input_factory.create_trail_follower(controller, 7)
+    RX_I8_trail_follower = rx_factory.input_factory.create_trail_follower(controller, 8)
+    RX_M1_motor = rx_factory.motor_factory.create_motor(controller, 1)
+    RX_M2_motor = rx_factory.motor_factory.create_motor(controller, 2)
+    RX_I2C_1_gesture_sensor = rx_factory.i2c_factory.create_gesture_sensor(controller, 1)