W8_ev3stuff.js

// Your program here.
ev3_speak("hello chan how"); // DO NOT DELETE
//==============================
//Magic numbers
const magic_number = 18; // 18 position units -> 1cm motor movement (speed 300)
const speed = 300;
const one_second = 1000;
const distance_between_wheels = 15;
//distance between wheels is x cm
//circumference of the circle is pi * (2x) cm
//x degrees -> math_PI * (x / 180) cm for wheel to cover
//==============================
//Connection and diagnosis
const motorB = ev3_motorB();
const motorC = ev3_motorC();
const colorSensor = ev3_colorSensor();
const killSwitch = ev3_touchSensor3();

display(ev3_connected(motorB) ? "B connected" : "B not connected");
display(ev3_connected(motorC) ? "C connected" : "C not connected");
display(ev3_connected(colorSensor) 
        ? "colour sensor connected"
        : "colour sensor not connected");
display(ev3_connected(killSwitch)
        ? "kill switch connected"
        : "kill switch not connected");

//===============================
//Movement modules
const cm = d => d * magic_number;
const second = t => one_second * t; // second(n) runs n seconds
const wait = t => ev3_pause(second(t)); // wait instruction for n seconds
const angle_to_dist = angle => cm(math_PI * distance_between_wheels * angle / 180);


function go_straight(motor1, motor2, pos) {
     ev3_speak("straight");
     ev3_runToRelativePosition(motor1, pos, speed);
     ev3_runToRelativePosition(motor2, pos, speed);
     wait(0.5);
}

function pivot_turn(motor) {
    ev3_speak("turning");
    
    wait(1);
    ev3_runToRelativePosition(motor, angle_to_dist(90), speed);
    wait(3);
}

const left_90 = () => pivot_turn(motorC); // Turn left 90 degree
const right_90 = () => pivot_turn(motorB); // Turn right 90 degree

function turn_on_spot(angle) {
    //...
}

//================================
//Light sensing module

function perSecondLightIntensity (seconds) {
    for (let i = 0; i < seconds; i = i + 1) {
        display(ev3_reflectedLightIntensity(colorSensor));
        if (ev3_touchSensorPressed(killSwitch)){
            display("kill switch activated");
            break;
        }
        wait(1);
    }
}

/* my thinking is: 
    if sensor sees black, move ahead
    if sensor sees white, we need to find where black is
        pivot around to find black.
*/
perSecondLightIntensity(10);