#!/usr/bin/env python3

from ev3devlogging import timedlog as log

from ev3dev2 import auto as ev3

# initialize

# ------------

# initialize sensors

colorSensor = ev3.ColorSensor(ev3.INPUT_2)

touchSensorLeft = ev3.TouchSensor(ev3.INPUT_1)

touchSensorRight = ev3.TouchSensor(ev3.INPUT_4)

# initialize left and right motor as tank combo

tankDrive = ev3.MoveTank(ev3.OUTPUT_A, ev3.OUTPUT_D)

# define some functions

# -----------------------

def reverseSmallDistance():

numberOfMotorRotationsBackwards = 1

tankDrive.on_for_rotations(ev3.SpeedPercent(-35), ev3.SpeedPercent(-35), numberOfMotorRotationsBackwards,

brake=False)

def rotateDegrees(degrees):

degrees = degrees * 2

tankDrive.on_for_degrees(ev3.SpeedPercent(40), ev3.SpeedPercent(0), degrees, brake=False)

def checkCollision():

return touchSensorLeft.is_pressed or touchSensorRight.is_pressed

# main loop

# -----------

tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))

while True:

color = colorSensor.color

if color == colorSensor.COLOR_BLACK: # black line

log("border")

tankDrive.stop()

reverseSmallDistance()

rotateDegrees(150)

tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))

elif color == colorSensor.COLOR_BLUE or color == colorSensor.COLOR_YELLOW or color == colorSensor.COLOR_RED:

print("lake with color={color}".format(color=color))

log("lake")

tankDrive.stop()

rotateDegrees(90)

tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))

elif checkCollision():

log("collision")

tankDrive.stop()

reverseSmallDistance()

rotateDegrees(180)

tankDrive.on(ev3.SpeedPercent(30), ev3.SpeedPercent(30))