from Myro import *
init()
def main():
    # Braitenberg vehicle#1: Alive

    while True:
        L = getLight("center")
        forward(normalize(L))

main()

def normalize(v):
   # Normalize v (in the range 0..5000) to 0..1.0, inversely
   return 1.0 - v/5000.0

1.0 - 35.0/5000.0

1.0 - 3000.0/5000.0 

1.0 - 200.0/5000.0 

def normalize(v):
    if v > Ambient:
        v = Ambient

    return 1.0 - v/Ambient

# Braitenberg Vehicle#1: Alive
from Myro import *
initialize(ask("What port?"))

Ambient = getLight("center")

def normalize(v):
    if v > Ambient:
        v = Ambient

    return 1.0 - v/Ambient

def main():
    # Braitenberg vehicle#1: Alive

    while True:
        L = getLight("center")
        forward(normalize(L))

# Vraitenberg Vehicle#2a
from Myro import *
initialize(ask("What port?"))

Ambient = sum(getLight())/3.0

def normalize(v):
    if v > Ambient:
        v = Ambient

    return 1.0 - v/Ambient

def main():
    # Braitenberg vehicle#2a: Coward

    while True:
        L = getLight("left")
        R = getLight("right")
        motors(normalize(L), normalize(R))

def normalize(v):
    if v > Ambient:
        v = Ambient

    return v/Ambient

def normalize(v):
    mean = Ambient/2.0
    stddev = Ambient/6.0
    if v >= Ambient:
        v = Ambient
	return exp(-(v - mean)**2 / (2*(stddev**2)))



thresh = 50

for t in timer(30):
   # Get sensor values for left and right light sensors
   L = getLight('left')
   R = getLight('right')
  
   # decide how to act based on sensors values
   if (L - R) > thresh:
      # left is seeing less light than right so turn right
      turnRight(1.0)
   elif (R - L) > thresh:
      # right is seeing less light than left, so turn left
      turnLeft(1.0)
   else:
      # the difference is less than the threshold, stay put
      stop()


# Light follower

from Myro import *
initialize(ask("What port?"))

# program settings...

thresh = 50
fwdSpeed = 0.8
cruiseSpeed = 0.5
turnSpeed = 0.7     # left turn, -0.7 will be right turn

def main():
    while True:
       # get light sensor values for left, center, and right
       L, C, R = getLight()
      
       # decide how to act based on sensor values
       if C < thresh:
          # bright light from straight ahead, go forward
          move(fwdSpeed, 0)
       elif L < thresh:
          # bright light at left, turn left
          move(cruiseSpeed, turnSpeed)
       elif R < thresh:
          # bright light on right side, turn right
          move(cruiseSpeed, -turnSpeed)
       else:
          # no bright light, move forward slowly (or stop?)
          move(cruiseSpeed/2, 0)
main()

# Avoiding Obstacles

from Myro import *
initialize(ask("What port?"))

# program settings...

cruiseSpeed = 0.6
turnSpeed = 0.5     # this is a left turn, -0.5 will be right turn

def main():
    while True:
       # get sensor values for left and right IR sensors
       L, R = getIR()
       L = 1 - L
       R = 1 - R
       # decide how to act based on sensors values
       if L and R:
          # obstacle straight ahead, turn (randomly)
          move(0, turnSpeed)
       elif L:
          # obstacle on left, turn right
          move(cruiseSpeed, -turnSpeed)
       elif R:
          # obstacle on right, turn left
          move(cruiseSpeed, turnSpeed)
       else:
          # no obstacles
          move(cruiseSpeed, 0)
main()

# Avoiding Obstacles by bumping

from Myro import *
initialize(ask("What port?"))

# program settings...

cruiseSpeed = 1.0
turnSpeed = 0.5     # this is a left turn, -0.5 will be right turn

def main():
    while True:

        if getStall():          
           # I am stalled, turn (randomly?)
           move(0, turnSpeed)
        else:
           # I am not stalled, cruise on
            move(cruiseSpeed, 0)
      
main()