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turn_test.py

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NikolajDanger
2022-09-07 13:38:24 +02:00
parent 552c783ce8
commit 26ddb19aff
1 changed files with 7 additions and 3 deletions
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10
square.py
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@ -11,7 +11,7 @@ RIGHT_WHEEL_OFFSET = 4
CLOCKWISE_OFFSET = 0.96 CLOCKWISE_OFFSET = 0.96
def clockwise_square(arlo): def clockwise_square(arlo):
while True: for _ in range(4):
# Driving forward # Driving forward
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
sleep(DRIVE_T * 10) sleep(DRIVE_T * 10)
@ -27,7 +27,7 @@ def clockwise_square(arlo):
sleep(1) sleep(1)
def counter_square(arlo): def counter_square(arlo):
while True: for _ in range(4):
# Driving forward # Driving forward
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
sleep(DRIVE_T * 10) sleep(DRIVE_T * 10)
@ -37,7 +37,11 @@ def counter_square(arlo):
# Turning 90 degrees # Turning 90 degrees
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
sleep(TURN_T * 9) sleep(TURN_T * 10)
arlo.stop()
sleep(0.5)
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
sleep(TURN_T)
arlo.stop() arlo.stop()
sleep(1) sleep(1)