Prueba inicial

main.py

 #!/usr/bin/env pybricks-micropython
 from robot import Robot
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,InfraredSensor, UltrasonicSensor, GyroSensor)
+from pybricks.parameters import Port, Stop, Direction, Button, Color
+from pybricks.tools import wait, StopWatch, DataLog
+from pybricks.robotics import DriveBase
+from pybricks.media.ev3dev import SoundFile, ImageFile
+
+
+robot = Robot()
+
+robot.sigueLineaHastaNegro()
 
-robot = Robot()
\ No newline at end of file

robot.py

@@ -4,14 +4,15 @@ from pybricks.parameters import Port, Stop, Direction, Button, Color
 from pybricks.tools import wait, StopWatch, DataLog
 from pybricks.robotics import DriveBase
 from pybricks.media.ev3dev import SoundFile, ImageFile
-from queue import Queue
 
 class Robot:
-    green_rgb = (35, 55, 39)
-    black_rgb = (8, 4, 19)
+    green_rgb = (27, 47, 16)
+    black_rgb = (4, 2, 7)
     blue_rgb = (0,0,0)
-    tolerancia = 5
+    tolerancia = 7
     contadorNegros = 0
+    w = 10
+    velocidad = 100
 
     def __init__(self):
         self.ev3 = EV3Brick()
@@ -20,7 +21,7 @@ class Robot:
         self.giroSensor = GyroSensor(Port.S1)
         self.colorSensor = ColorSensor(Port.S4)
         self.robot = DriveBase(left_motor, right_motor, wheel_diameter=55.5, axle_track=124)
-        self.colaMovimientos = Queue()
+        self.colaMovimientos = []
 
     #Metodos gestion negros
     def queNegroEs(self):
@@ -35,25 +36,25 @@ class Robot:
         self.contadorNegros = self.contadorNegros + 1
 
     #metodos deteccion de colores
-    def is_green(rgb):
+    def is_green(self,rgb):
         if (rgb[0] >= (Robot.green_rgb[0]-Robot.tolerancia) and rgb[0] <= (Robot.green_rgb[0]+Robot.tolerancia)) and (rgb[1] >= (Robot.green_rgb[1]-Robot.tolerancia) and rgb[1] <= (Robot.green_rgb[1]+Robot.tolerancia)) and (rgb[2] >= (Robot.green_rgb[2]-Robot.tolerancia) and rgb[2] <= (Robot.green_rgb[2]+Robot.tolerancia)):
             return True
         return False
 
-    def is_black(rgb):
+    def is_black(self,rgb):
         if (rgb[0] >= (Robot.black_rgb[0]-Robot.tolerancia) and rgb[0] <= (Robot.black_rgb[0]+Robot.tolerancia)) and (rgb[1] >= (Robot.black_rgb[1]-Robot.tolerancia) and rgb[1] <= (Robot.black_rgb[1]+Robot.tolerancia)) and (rgb[2] >= (Robot.black_rgb[2]-Robot.tolerancia) and rgb[2] <= (Robot.black_rgb[2]+Robot.tolerancia)):
             return True
         return False
 
-    def is_blue(rgb):
+    def is_blue(self,rgb):
         if (rgb[0] >= (Robot.blue_rgb[0]-Robot.tolerancia) and rgb[0] <= (Robot.blue_rgb[0]+Robot.tolerancia)) and (rgb[1] >= (Robot.blue_rgb[1]-Robot.tolerancia) and rgb[1] <= (Robot.blue_rgb[1]+Robot.tolerancia)) and (rgb[2] >= (Robot.blue_rgb[2]-Robot.tolerancia) and rgb[2] <= (Robot.blue_rgb[2]+Robot.tolerancia)):
             return True
         return False
 
     # Recogemos la lista de movimientos del algoritmo
-    def recogeListaMovimientosPedido(self, lMovimientos):
-        for movimiento in lMovimientos:
-            self.colaMovimientos.put(movimiento)
+    #def recogeListaMovimientosPedido(self, lMovimientos):
+    #    for movimiento in lMovimientos:
+    #        self.colaMovimientos.put(movimiento)
 
     #Metodos para el movimiento
     def giro(self,grados):
@@ -70,8 +71,20 @@ class Robot:
                     if (ajuste < 0):
                         self.robot.turn(-1)
 
+    def sigueLineaHastaNegro(self,color=green_rgb):
+        rgb = self.colorSensor.rgb()
 
-    def seguir_linea(self,color="verde"):
+        while not self.is_black(rgb) or self.queNegroEs() == 0:
+            #Fase de lectura
+            rgb = self.colorSensor.rgb()
+            if self.is_green(rgb):
+                self.w = 10
+            else:
+                self.w = -10
+            #Fase de ejecución
+            self.robot.drive(self.velocidad,self.w)
+
+    def gestionRuta(self):
         while True:
             rgb = self.colorSensor.rgb()