مقایسه برنامه نویسی LEGO Spike Prime: کدام یک برای مسابقات رباتیک بهترین است؟ – 4: دقت تشخیص رنگ

# Set up all devices
LineSensor = port.D
ColorSensor = port.C

colors = []
color_now = None

# Color reading task
async def color_task():
    global color_now
    while True:
        color_now = color_sensor.color(ColorSensor)
        await runloop.sleep_ms(1)

async def main():
    global colors
    global color_now

    motor_pair.pair(motor_pair.PAIR_1, port.A, port.B)
    motor_pair.move(motor_pair.PAIR_1, 0, velocity=900)

    while color_sensor.reflection(LineSensor) > 50:
        if len(colors) == 0 or color_now != colors[-1]:
            colors.append(color_now)
        await runloop.sleep_ms(1)

    motor_pair.stop(motor_pair.PAIR_1, stop=motor.BRAKE)

    print(colors)

runloop.run(color_task(), main())

# Set up all devices.
hub = PrimeHub()
left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.B, Direction.CLOCKWISE)
line_sensor = ColorSensor(Port.D)
color_sensor = ColorSensor(Port.C)

# Variables for color detection
color_now = None
colors = []

# Color reading task
async def color_task():
    global color_now
    while True:
        color_now = await color_sensor.color(surface=True)
        await wait(1)

async def run():
    global colors
    global color_now

    # start moving
    left_motor.run(900)
    right_motor.run(900)

    while await line_sensor.reflection() > 50:
        if len(colors) == 0 or color_now != colors[-1]:
            colors.append(color_now)
        await wait(1)

    left_motor.brake()
    right_motor.brake()

    print(colors)

async def main():
    await multitask(color_task(), run())

run_task(main())

pup_motor_t *motorA;             
pup_motor_t *motorB;             
pup_device_t *ColorSensor;       
pup_device_t *LineSensor;

char colors[30]; // Array to store detected colors
char color_now;

void Main(intptr_t exinf)
{
  motorA = pup_motor_init(PBIO_PORT_ID_A, PUP_DIRECTION_COUNTERCLOCKWISE);
  motorB = pup_motor_init(PBIO_PORT_ID_B, PUP_DIRECTION_CLOCKWISE);
  LineSensor = pup_color_sensor_get_device(PBIO_PORT_ID_D);
  ColorSensor= pup_color_sensor_get_device(PBIO_PORT_ID_C);

  int8_t i = 0;

  // Wait for left button to be pressed
  hub_button_t pressed;
  while(!(pressed&HUB_BUTTON_LEFT)){
    hub_button_is_pressed(&pressed);
    hub_light_on_color(PBIO_COLOR_GREEN);
  }

  sta_cyc(CYC_HDR); // Start color_task

  // Start moving
  pup_motor_set_speed(motorA,900);
  pup_motor_set_speed(motorB,900);

  // Add detected colors to the array
  while (pup_color_sensor_reflection(LineSensor) > 50 ) {
    if (i == 0 || color_now != colors[i-1]) {
      if (i < sizeof(colors) - 1) {
        colors[i] = color_now;
        i++;
      }
    }
  }

  // Stop moving
  pup_motor_stop(motorA);
  pup_motor_stop(motorB);

  stp_cyc(CYC_HDR); // Stop color_task

  // Output the colors detected
  int8_t j;
  for (j = 0; j < 30; j++) {
    syslog(LOG_NOTICE, "%d : %c", j, colors[j]);
  }
}

// Read color every 1ms
void color_task(intptr_t exinf)
{
  color_now = pup_color_sensor_color_name(ColorSensor, true);
}