NikolajDanger/Roboteksperimentarium
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

✨

Browse Source
This commit is contained in:
NikolajDanger
2022-09-07 12:04:56 +02:00
parent 393e3e3ea2
commit 2e1018563c
1 changed files with 9 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
square.py
View File

@ -1,44 +1,38 @@
from time import sleep from time import sleep
import robot import robot
TURN_A = 5.3 # 10 degrees turn at power 1 POWER = 70
TURN_T = 0.076 # 10 degrees
DRIVE_A = 16 # 10 centimeter drive at power 1 DRIVE_A = 16 # 10 centimeter drive at power 1
TURN_COUNTER_OFFSET = 1.042 TURN_COUNTER_OFFSET = 1.042
def square(arlo, power, turn_t, drive_t): def square(arlo, drive_t):
while True: while True:
# Driving forward # Driving forward
arlo.go_diff(power, power, 1, 1) arlo.go_diff(POWER, POWER, 1, 1)
sleep(drive_t * 10) sleep(drive_t * 10)
arlo.stop() arlo.stop()
sleep(1) sleep(1)
# Turning 90 degrees # Turning 90 degrees
arlo.go_diff(power, power, 0, 1) arlo.go_diff(POWER, POWER, 0, 1)
sleep(turn_t * 9 * TURN_COUNTER_OFFSET) sleep(TURN_T * 9 * TURN_COUNTER_OFFSET)
arlo.stop() arlo.stop()
sleep(1) sleep(1)
def main(): def main():
# Gets the power for the robot
power = input("Power (64):")
if power == "":
power = 64
else:
power = int(power)
# Calculates sleep times for the robot # Calculates sleep times for the robot
turn_t = DRIVE_A / power # 10 degrees turn at given power drive_t = DRIVE_A / POWER # 10 centimeter drive at given power
drive_t = TURN_A / power # 10 centimeter drive at given power
# Initializes the robot and runs the # Initializes the robot and runs the
arlo = robot.Robot() arlo = robot.Robot()
try: try:
square(arlo, power, turn_t, drive_t) square(arlo, drive_t)
except KeyboardInterrupt: except KeyboardInterrupt:
arlo.stop() arlo.stop()