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NikolajDanger
2022-09-14 15:03:42 +02:00
parent 628b02e2ee
commit 280de12b3d
1 changed files with 5 additions and 1 deletions
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6
careful_forward.py
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@ -8,19 +8,23 @@ RIGHT_WHEEL_OFFSET = 5
def careful_forward(drive_time, arlo): def careful_forward(drive_time, arlo):
start = time.time() start = time.time()
end = start + drive_time end = start + drive_time
turning = None
while time.time() < end: while time.time() < end:
forward_dist = arlo.read_front_ping_sensor() forward_dist = arlo.read_front_ping_sensor()
right_dist = arlo.read_right_ping_sensor() right_dist = arlo.read_right_ping_sensor()
left_dist = arlo.read_left_ping_sensor() left_dist = arlo.read_left_ping_sensor()
if forward_dist > 600 and all(x > 200 for x in [right_dist, left_dist]): if forward_dist > 600 and all(x > 200 for x in [right_dist, left_dist]):
print("not blocked") print("not blocked")
turning = None
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
else: else:
print("blocked") print("blocked")
if forward_dist > 600 and right_dist > 200: if turning == "R" or (forward_dist > 600 and right_dist > 200 and turning is None):
arlo.go_diff(POWER, POWER, 1, 0) arlo.go_diff(POWER, POWER, 1, 0)
turning = "R"
else: else:
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
turning = "L"
time.sleep(0.01) time.sleep(0.01)