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Warehouse Efficiency using Autonomous Delivery Robots and AI

fwd-edu-breakout=github:climate-action-kits/pxt-fwd-edu/fwd-breakout
solar=github:climate-action-kits/pxt-fwd-edu

Step 1 @showdialog

Welcome to Automating Deivery: Integrating AI with Electric Vehichles built project

Step 2 @showdialog

Plug your USB cable into the micro:bit. breakout board

Step 3 @showdialog

Insert it into the Climate Action Kit board. breakout board

Step 4 @showhint

Click three dots besides |Download| button and follow the steps to pair your micro:bit. pair gif

Step 5 @showhint

Look below the @boardname@ simulator to see the Climate Action Board and the connected sensors. Try to interact with your sensor and the simulator will react to it. line

Step 6

Click ||fwdMotors:Motors|| drag and drop ||fwdMotors:Setup Driving|| block inside ||basic:on start|| loop.

~hint What did that do?

  • Assigning specific roles to the left and right motors so they can drive forward and turn properly.
  • We are teaching our robot which wheel is left and which wheel is right hint~
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.leftServo,
)

Step 7

Change the ||fwdMotors:right motor to rightServo||. Keep the ||fwdMotors: left motor to leftServo||.

~hint What did that do?

  • We can't have code going to the same servo
  • This is why we are matching right and left hint~
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
)

Step 8

Click ||logic:Logic|| drag and drop ||logic:if true then|| block inside ||basic:forever|| loop.

~hint What did that do?

  • Using the If/then block means we are giving the code a choice
  • Placing it in forever means the code will never stop checking if the condition is met hint~
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
)
basic.forever(function () {
    if (true) {
            }
    })
    ```

## Step 9
Click ``||Variables:Variables||``. Click on ``||Make a Variable||`` to create a new ``||Variables:Variable||``.  
Name it ``||Variables:IsDrivingEnabled||``.

~hint What did that do? 
- We are telling our computer to track information for us
- This one is asking the computer to track if we are driving or not 
hint~ 

```blocks
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
)
basic.forever(function () {
    if (true) {
            }
    })

Step 10

Click ||Variables:Variables|| drag and drop ||Variables:IsDrivingEnabled|| block block to replace ||logic:true|| condition of ||logic:if true then|| block inside ||basic:forever|| loop.

~hint What did that do?

  • We are replacing part of the true condition of the If then with our variable
  • This way the conditional will check if you are driving or not hint~
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
)
basic.forever(function () {
    if (IsDrivingEnabled) {
            }
    })

Step 11

Click ||Input:Input|| drag and drop ||Input:on button A pressed|| block on workspace.

~hint What did that do?

  • This button means an action will be trigger when we press the A button
  • The A button is on the Mirco:bit hint~
input.onButtonPressed(Button.A, function () {
	
})

fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
)
basic.forever(function () {
    if (IsDrivingEnabled) {
            }
    })

Step 12

Right click ||Input:on button A pressed|| block and duplicate it. Change ||Input:A|| to ||Input:B||.

~hint What did that do?

  • This button means an action will be trigger when we press the B button
  • The B button is on the Mirco:bit hint~
input.onButtonPressed(Button.A, function () {
	
})
input.onButtonPressed(Button.B, function () {
	
})
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
)
basic.forever(function () {
    if (IsDrivingEnabled) {
            }
    })

Step 13

Click ||Variables:Variables|| drag and drop ||Variables:IsDrivingEnabled = 0|| within ||Input:on button A pressed||

~hint What did that do?

  • We are telling the code when to stop driving
  • We want to code to only stop driving when we press A hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = 0
})
input.onButtonPressed(Button.B, function () {
	
})
let IsDrivingEnabled = 0
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
    	
    }
})

Step 14

Click ||Logic:Logic|| drag and drop ||logic:false| to replace 0 in ||Variables:IsDrivingEnabled = 0|| within ||Input:on button A pressed||

~hint What did that do

  • We are telling the code when to stop driving
  • We want to code to only stop driving when we press A it's like saying no to driving hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
})
input.onButtonPressed(Button.B, function () {
	
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
    	
    }
})

Step 15

Click ||Logic:Logic|| drag and drop ||logic:true| to replace 0 in ||Variables:IsDrivingEnabled = 0|| within ||Input:on button B pressed||

~hint What did that do

  • We are telling the code to check for driving
  • This will happen when we press the B button hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
        	
        } else {
        	
        }
    }
})

Step 16

Click ||fwdMotors:Motors|| drag and drop ||fwdMotors:Stop|| under ||Variables:IsDrivingEnabled = false|| within ||Input:on button B pressed||

~hint What did that do?

  • We are telling the code when to start driving
  • We want to code to only start driving when we press B hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
    	
    }
})

Step 17

Click ||logic:Logic|| drag and drop ||logic:if true then else|| block inside the first ||logic:if true then|| block inside ||basic:forever|| loop.

~hint What did that do?

  • We are adding another condition
  • This gives the code a choice between two different actions hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})


let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (true) {
            
        } else {
            
        }
    }
})

Step 18

Click ||fwdSensors:Sensors|| drag and drop ||fwdSensors:sonar1 distance is under 0 m|| to replace ||logic:true|| condition of ||logic:true|| within the ||logic:if true then|| block

~hint What did that do?

  • We are using the sonar sensor to check distance from other objects
  • We are having the computer check sonar distance and make a choice based on the information hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
        	
        } else {
        	
        }
    }
})

Step 19

Click ||music:Music|| drag and drop ||Music:music.ringTone|| block within ||logic:if|| ||fwdSensors:sonar1 distance is under 0 m|| ||logic:then|| condition.

~hint What did that do?

  • We have added a sound inside the else condition.
  • If something is closer than 1 meter a sound will play hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})

let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(494)
        } else {
        	
        }
    }
})

Step 20

Click ||basic:Basic|| drag and drop ||basic:pause (ms) 100|| block under ||Music:music.ringTone|| block within ||logic:if|| ||fwdSensors:sonar1 distance is under 0 m|| ||logic:then|| condition.

~hint What did that do?

  • We are adding a pause button
  • That means the code will wait after the music hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
        } else {
        	
        }
    }
})

Step 21

Click ||music:Music|| drag and drop ||Music:stopall|| block under ||basic:pause (ms) 100|| block within ||logic:if|| ||fwdSensors:sonar1 distance is under 0 m|| ||logic:then|| condition.

~hint What did that do?

  • We have told the music to stop
  • With this block, the sound will play pause and then stop hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
        	
        }
    }
})

Step 22

Click ||logic:Logic|| drag and drop ||logic:if true then|| block inside block within ||logic:if|| ||fwdSensors:sonar1 distance is under 0 m|| ||logic:else||

~hint What did that do?

  • We are creating another choice for the code to check for
  • If something isn't too close another choice is made
  • Placing it into the forever block will make sure it never stops happening hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})

let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(494)
            fwdMotors.drive(fwdMotors.DrivingDirection.Reverse, 20)
        } else {
            if (true) {
            	
            }
        }
    }
})

Step 23

Click ||logic:Logic|| drag and drop ||logic:if true then|| block under the 1st ||logic:if true then|| block

~hint Why did we do this?

  • Using the If/then block means we are giving the code a choice
  • We are just adding another choice
  • Placing it in forever means it will never stop happening hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (true) {
            	
            }
        }
    }
})

Step 24

Click ||logic:Logic|| drag and drop ||logic:if true then|| block under the 2nd ||logic:if true then|| block. Note: Three ||logic:if true then|| blocks are used.

~hint What did that do?

  • Using the If/then block means we are giving the code a choice
  • We are just adding another choice
  • Placing it in forever means it will never stop happening hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (true) {
            	
            }
            if (true) {
            	
            }
            if (true) {
            	
            }
        }
    }
})

Step 25

Click ||fwdSensors:Sensors|| drag and drop ||fwdSensors: line1 state is •|| to replace ||logic:true|| condition of 1st ||logic:if true then|| block.

~hint What did that do?

  • We need to update the logic statement with real-world information
  • Now we are telling our code to use the line sensor to move
  • Placing it in forever means it will never stop checking hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
            	
            }
            if (true) {
            	
            }
            if (true) {
            	
            }
        }
    }
})

Step 26

Click ||fwdSensors:Sensors|| drag and drop ||fwdSensors: line2 state is o|| to replace ||logic:true|| condition of 2nd ||logic:if true then|| block. Note: Use drop down menu to change line number.

~hint Why did we do this?

  • We need to update the logic statment with real world information
  • Now we are asking the code to check if it is following the line
  • Placing it in forever means it will never stop hchecking hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
            	
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
            	
            }
            if (true) {
            	
            }
        }
    }
})

Step 27

Click ||fwdSensors:Sensors|| drag and drop ||fwdSensors: line3 state is •|| to replace ||logic:true|| condition of 3rd ||logic:if true then|| block. Note: Use drop down menu to change line number.

~hint Why did we do this?

  • We need to update the logic statment with real world information
  • Now we are asking the code to check if it not following the line
  • Placing it in forever means it will never stop checking hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
            	
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
            	
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
            	
            }
        }
    }
})

Step 28

Click ||fwdMotors: Motors|| drag and drop ||fwdMotors: Turn 0 in place|| block inside 1st ||logic: if|| ||fwdSensors:line1 state is •|| ||logic:then|| condition.

~hint Why did we do this?

  • We are now telling the code what to do when on the line
  • We are telling the code to turn in place to stay on the line hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})

let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(494)
            fwdMotors.drive(fwdMotors.DrivingDirection.Reverse, 20)
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(0)
            }
            if (fwdSensors.line2.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
            	
            }
            if (fwdSensors.line3.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
            	
            }
        }
    }
})

Step 29

Change ||fwdMotors:Turn 0|| to ||fwdMotors:5||

~hint Why did we do this?

  • We are now telling the code how much to turn
  • Within the forever block the code will always check if the condition is met hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(5)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
            	
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
            	
            }
        }
    }
})

Step 30

Click ||fwdMotors:Motors|| drag and drop ||fwdMotors:Drive forward 50|| block inside 2nd ||logic:if|| ||fwdSensors:line2 state is o|| ||logic:then|| condition. Change the ||fwdMotors:Drive forward 50|| to ||fwdMotors:20||

~hint Why did we do this?

  • We are now telling the code to drive forward if on the line
  • We changed the speed from 50 to 20
  • You can make it faster or slower hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(5)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
                fwdMotors.drive(fwdMotors.DrivingDirection.Forward, 20)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
            	
            }
        }
    }
})

Step 31

Click ||fwdMotors:Motors|| drag and drop ||fwdMotors: Turn 0 in place|| block inside 3rd ||logic:if|| ||fwdSensors:line3 state is •|| ||logic:then|| condition. Change the ||fwdMotors:Turn 0|| to ||fwdMotors:-5||.

~hint Why did we do this?

  • We are now telling the code to turn again to stay on the line
  • We will turn in the oppsite direction

hint~

input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(5)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
                fwdMotors.drive(fwdMotors.DrivingDirection.Forward, 20)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(-5)
            }
        }
    }
})

Step 32

Click ||basic:Basic|| drag and drop ||basic:pause (ms) 100|| block under ||fwdMotors:Turn 5 in place|| block.

~hint Why did we do this?

  • Using the pause block is telling our code to wait
  • This means the code will wait before checking the conditions again hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(5)
                basic.pause(100)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
                fwdMotors.drive(fwdMotors.DrivingDirection.Forward, 20)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(-5)
            }
        }
    }
})

Step 33

Click ||basic:basic|| drag and drop ||basic:pause (ms) 100|| block under ||fwdMotors:Drive Forward at 20|| block.

~hint What did this do?

  • Using the pause block is telling our code to wait
  • This means the code will wait before checking the conditions again Hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(5)
                basic.pause(100)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
                fwdMotors.drive(fwdMotors.DrivingDirection.Forward, 20)
                basic.pause(100)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(-5)
            }
        }
    }
})

Step 34

Click ||basic:basic|| drag and drop ||basic:pause (ms) 100|| block under ||fwdMotors:Turn -5 in place|| block.

~hint What did this do?

  • Using the pause block is telling our code to wait
  • This means the code will wait before checking the conditions again hint~
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(5)
                basic.pause(100)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
                fwdMotors.drive(fwdMotors.DrivingDirection.Forward, 20)
                basic.pause(100)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(-5)
                basic.pause(100)
            }
        }
    }
})

Step 35

Click ||fwdMotors:+|| on ||fwdMotors:Setup Driving|| block inside ||basic:on start|| block. Set bias to ||fwdMotors: 0||. Change ||basic:pause (ms) 100|| to ||basic:500|| for all ||basic:pause|| blocks.

~hint What did this do?

  • We are not telling the code to wait for longer
  • We are doing the same for all the pause blocks
input.onButtonPressed(Button.A, function () {
    IsDrivingEnabled = false
    fwdMotors.stop()
})
input.onButtonPressed(Button.B, function () {
    IsDrivingEnabled = true
})
let IsDrivingEnabled = false
fwdMotors.setupDriving(
fwdMotors.leftServo,
fwdMotors.rightServo,
0
)
basic.forever(function () {
    if (IsDrivingEnabled) {
        if (fwdSensors.sonar1.fwdDistancePastThreshold(0.5, fwdSensors.ThresholdDirection.Under)) {
            music.ringTone(262)
            basic.pause(500)
            music.stopAllSounds()
        } else {
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(5)
                basic.pause(500)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Miss)) {
                fwdMotors.drive(fwdMotors.DrivingDirection.Forward, 20)
                basic.pause(500)
            }
            if (fwdSensors.line1.fwdIsLineSensorState(fwdSensors.LineSensorState.Hit)) {
                fwdMotors.turn(-5)
                basic.pause(500)
            }
        }
    }
})

Step 36 @showhint

|Download| and test your code. The simulator shows how it should work. Congratulations on completing your Automated delivery robot! - Go back to the lesson for more activities and extensions. line-servos