code du robot

#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick 
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
                                InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color, SoundFile
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
# Create your objects here.
ev3 = EV3Brick()
moteur_gauche = Motor(Port.A)
moteur_potentiometre = Motor(Port.D)
bras_pousser1 = Motor(Port.B)
bras_pousser2 = Motor(Port.C)
Capteur = ColorSensor(Port.S4)
telecommande = InfraredSensor(Port.S2)
bouton_uregence = TouchSensor(Port.S3)
# variables tapis roulant
angle_old = 0
vitesse = 0
# variables bras
V = 270
#variable liste
rouge = 0
bleu = 0
vert = 0
jaune = 0
#variable angle bras
angleD = 110
angle1 = 170
angle2 = 250
#variable led brick
lumiere = 0
# intialisations des bras
ev3.speaker.play_file(SoundFile.HELLO)bras_pousser1.run(-90)bras_pousser2.run(-90)
wait(2000)
bras_pousser1.stop()
bras_pousser2.stop()
bras_pousser1.reset_angle(0)
bras_pousser2.reset_angle(0)
bras_pousser1.run_target(V, 90, wait=False)
bras_pousser2.run_target(V, 90, wait=False)
wait(1000)
ev3.screen.clear()
while True :
    #tapis roulant potentiometre
    angle = moteur_potentiometre.angle()
    if angle > angle_old :
        vitesse = vitesse +15
        if vitesse > 360 :
             vitesse = 360
    elif angle < angle_old :
        vitesse = vitesse -15
        if vitesse < 0 :
             vitesse = 0
    moteur_gauche.run(-vitesse)
    angle_old = angle
    #bouton arret d urgence
    if bouton_uregence.pressed():
         vitesse = 0
    # telecommande
    liste_boutons = telecommande.buttons(1)
    if liste_boutons != []:
        print(liste_boutons)
        elt_liste = liste_boutons.pop()
        if elt_liste == Button.LEFT_UP:
            vitesse = vitesse +15
            if vitesse > 360 :
                vitesse = 360
         elif elt_liste == Button.LEFT_DOWN:
            vitesse = vitesse -15
            if vitesse < 0 :
                vitesse = 0
        elif elt_liste == Button.BEACON:
            vitesse = 0
    #capteur , bras
    couleur = Capteur.color()
    t = Capteur.rgb()
    r = t[0]
    g = t[1]
    b = t[2]
    #rouge
    if  r > 25 and g < 25 and b < 25 :
        bras_pousser1.run_target(V, angle1, wait=False)
        bras_pousser2.run_target(V, angleD, wait=False)
        ev3.speaker.play_file('rouge.wav')
        ev3.light.on(Color.RED)
        rouge = rouge + 1
        lumiere = 0
    #jaune
    elif r > 40 and g  > 40 and b < 40 :
        bras_pousser2.run_target(V, angle1, wait=False)
        bras_pousser1.run_target(V, angleD, wait=False)
        ev3.speaker.play_file(SoundFile.YELLOW)
        ev3.light.on(Color.YELLOW)
        jaune = jaune + 1
        lumiere = 0
    #vert
    elif r < 25 and g > 25 and b < 25 :
        bras_pousser2.run_target(V, angle2, wait=False)
        bras_pousser1.run_target(V, angleD, wait=False)
        ev3.speaker.play_file(SoundFile.GREEN)
        ev3.light.on(Color.GREEN)
        vert = vert + 1
        lumiere = 0
    #bleu
    elif r < 25 and g < 40 and b > 20 :
        bras_pousser2.run_target(V, angleD, wait=False)
        bras_pousser1.run_target(V, angle2, wait=False)
        ev3.speaker.play_file(SoundFile.BLUE)
        ev3.light.on(Color.BLUE)
        bleu = bleu + 1
        lumiere = 0
    # liste couleur
    ev3.screen.clear()
    ev3.screen.draw_text(5, 5, "Rouge " + str(rouge))
    ev3.screen.draw_text(5, 20, "Vert " + str(vert))
    ev3.screen.draw_text(5, 35, "Bleu " + str(bleu))
    ev3.screen.draw_text(5, 50, "Jaune " + str(jaune))
    lumiere = lumiere + 1
    if lumiere > 5:
        ev3.light.off()
    wait(200)