stops now only on red/blue knots

src/move.py

@@ -44,10 +44,12 @@ class Move:
         self._wheel_r.speed_set(24)
         self._wheel_l.run()
         self._wheel_r.run()
-        while(self._bumper.value() == False):
+
+        while(not (self._bumper.value() or self._sensor.isRed() or self._sensor.isBlue())):
             self._wheel_l.speed_set(48 - self._sensor.getbrightness())
             self._wheel_r.speed_set(self._sensor.getbrightness())
             if(isknownstation == False):
                 pass #run odometry stuff here
+
         self._wheel_l.stop()
         self._wheel_r.stop()

src/sensor.py

@@ -1,6 +1,22 @@
 #!/usr/bin/env python3
 
 import ev3dev.ev3 as ev3
+from enum import Enum, unique
+
+
+@unique
+class Color(Enum):
+    RED = (80, 95, 20, 40, 15, 30)
+    BLUE = (10, 25, 60, 80, 70, 90)
+
+    def __init__(self, rmin, rmax, gmin, gmax, bmin, bmax):
+        self.rmin = rmin
+        self.rmax = rmax
+        self.gmin = gmin
+        self.gmax = gmax
+        self.bmin = bmin
+        self.bmax = bmax
+
 
 '''
 add enum for color definitions (type should be tupel of int's).
@@ -18,22 +34,27 @@ class Sensor:
     def __init__(self):
         self._sensor = ev3.ColorSensor()
         self._sensor.mode = 'COL-REFLECT'
-
-    def iscolor(self, color):
-        if(self._sensor.mode == 'RGB-RAW'):
-            curcol = self._sensor.bin_data("hhh")
-            if curcol == curcol:
-                return True
-            else:
-                return False
-        else:
-            print("ERROR: incorrect sensor mode:", self._sensor.mode)
+        self.foundColor = False
 
     def getbrightness(self):
-        if(self._sensor.mode == 'COL-REFLECT'):
-            return self._sensor.value()
+        self._sensor.mode = 'COL-REFLECT'
+        return self._sensor.value()
+
+    def isRed(self):
+        self._sensor.mode = 'RGB-RAW'
+        r, g, b = self._sensor.bin_data("hhh")
+        if(Color.RED.rmin <= r <= Color.RED.rmax and Color.RED.gmin <= g <= Color.RED.gmax and Color.RED.bmin <= b <= Color.RED.bmax):
+            return True
         else:
-            print("ERROR: incorrect sensor mode:", self._sensor.mode)
+            return False
+
+    def isBlue(self):
+        self._sensor.mode = 'RGB-RAW'
+        r, g, b = self._sensor.bin_data("hhh")
+        if(Color.BLUE.rmin <= r <= Color.BLUE.rmax and Color.BLUE.gmin <= g <= Color.BLUE.gmax and Color.BLUE.bmin <= b <= Color.BLUE.bmax):
+            return True
+        else:
+            return False
 
     def setmode(self, newmode):
         self._sensor.mode = newmode