✨

square.py

@@ -1,44 +1,38 @@
 from time import sleep
 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
 
 TURN_COUNTER_OFFSET = 1.042
 
-def square(arlo, power, turn_t, drive_t):
+def square(arlo, drive_t):
     while True:
         # Driving forward
-        arlo.go_diff(power, power, 1, 1)
+        arlo.go_diff(POWER, POWER, 1, 1)
         sleep(drive_t * 10)
         arlo.stop()
 
         sleep(1)
 
         # Turning 90 degrees
-        arlo.go_diff(power, power, 0, 1)
-        sleep(turn_t * 9 * TURN_COUNTER_OFFSET)
+        arlo.go_diff(POWER, POWER, 0, 1)
+        sleep(TURN_T * 9 * TURN_COUNTER_OFFSET)
         arlo.stop()
 
         sleep(1)
 
 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
-    turn_t = DRIVE_A / power # 10 degrees turn at given power
-    drive_t = TURN_A / power # 10 centimeter drive at given power
+    drive_t = DRIVE_A / POWER # 10 centimeter drive at given power
 
     # Initializes the robot and runs the
     arlo = robot.Robot()
 
     try:
-        square(arlo, power, turn_t, drive_t)
+        square(arlo, drive_t)
 
     except KeyboardInterrupt:
         arlo.stop()