Line folower algorithm

[EnderCraft2007]

I am trying to make my robot follow a line using 2 color sensors those are almost directly next to eachother(there is one unit distance between them) and also to stop at the cross of lines if neccesary. I have tried to port a Spike scratch myblock to pybricks. I provided the screenshot of it.

And this is how I tryed to recreate it in Pybricks:

Then I tryed to port this Lego Python code: https://github.com/ofdl-robotics-tw/SPIKE-PD_Line_Follow
to pybricks, but didn't succeed:
SpikePythonGithub2Pybricks.txt

[laurensvalk]

The picture for the pybricks program seems to be missing. You can edit your post and try again if you like.

[EnderCraft2007]

The picture should now be vissible.

[laurensvalk]

Rather than porting existing code, it might also take a step back to study what the code is doing.

In the original code, they are driving each motor at a speed of scaling * (sensor - threshold), whereas in your version you seem to be driving them at scaling * (sensor - 0). If you're not sure what the scaling constants and thresholds do, you might want to start exploring with a single sensor first.

Also, you don't need any of the multitask blocks.

Hope that helps as a starting point!

[EnderCraft2007]

So What do you recommend, using drivebase.dc() and commanding both motors to start with 2 lines of code without multitasking them? Would dc be better then drivebase.curve()?

[laurensvalk]

Both .run and .dc can be used without multitasking. They just "start" the motor, so they don't take up time in your program.

Curve is good if you intend to make a curve of a given length, but that has not much to do with line following.

[EnderCraft2007]

I will try to advance alone then, thank you for your help!