From 544aa82cf5d787dc27aafedf361a0e7ac8f3a301 Mon Sep 17 00:00:00 2001
From: Andrey Pokhilko <apc4@ya.ru>
Date: Wed, 14 Aug 2019 11:04:07 +0300
Subject: [PATCH] Finish color pinned bot

---
 examples/automata/__init__.py |  6 +++---
 examples/automata/bot.py      | 35 +++++++++++++++++++++++++++++++++++
 2 files changed, 38 insertions(+), 3 deletions(-)
 create mode 100644 examples/automata/bot.py

diff --git a/examples/automata/__init__.py b/examples/automata/__init__.py
index 0d51a0f..72fd277 100644
--- a/examples/automata/__init__.py
+++ b/examples/automata/__init__.py
@@ -41,7 +41,7 @@ class Automata(object):
         return clr
 
     def left(self):
-        self.__hub.motor_AB.angled(270, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_FLOAT)
+        self.__hub.motor_AB.angled(290, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_FLOAT)
         time.sleep(0.1)
         self.__hub.motor_AB.stop()
 
@@ -51,10 +51,10 @@ class Automata(object):
         self.__hub.motor_AB.stop()
 
     def forward(self):
-        self.__hub.motor_AB.angled(600, self.BASE_SPEED)
+        self.__hub.motor_AB.angled(500, self.BASE_SPEED)
 
     def backward(self):
-        self.__hub.motor_AB.angled(600, -self.BASE_SPEED)
+        self.__hub.motor_AB.angled(500, -self.BASE_SPEED)
 
 
 if __name__ == '__main__':
diff --git a/examples/automata/bot.py b/examples/automata/bot.py
new file mode 100644
index 0000000..e336ee2
--- /dev/null
+++ b/examples/automata/bot.py
@@ -0,0 +1,35 @@
+from examples.automata import Automata
+
+from pylgbst.peripherals import *
+
+
+# this program is written by Sofia in early 2019
+
+def action_by_color(color):
+    if color == COLOR_BLUE:
+        bot.forward()
+    if color == COLOR_RED:
+        bot.backward()
+    if color == COLOR_WHITE:
+        bot.right()
+    if color == COLOR_YELLOW:
+        bot.left()
+
+
+def read_color():
+    bot.feed_tape()
+    color = bot.get_color()
+    print(COLORS[color])
+    return color
+
+
+bot = Automata()
+number = 0
+color = None
+while color != COLOR_NONE:
+    color = read_color()
+    number = number + 1
+    action_by_color(color)
+
+print(number)
+