From 393e3e3ea217fbf1b55d1ced96be6e3ae9ebedb5 Mon Sep 17 00:00:00 2001 From: NikolajDanger Date: Wed, 7 Sep 2022 12:02:45 +0200 Subject: [PATCH] :sparkles: --- square.py | 8 ++++---- turn_test.py | 19 +++---------------- 2 files changed, 7 insertions(+), 20 deletions(-) diff --git a/square.py b/square.py index 6bc6876..2386783 100644 --- a/square.py +++ b/square.py @@ -4,20 +4,20 @@ import robot TURN_A = 5.3 # 10 degrees turn at power 1 DRIVE_A = 16 # 10 centimeter drive at power 1 -RIGHT_WHEEL_OFFSET = 4 +TURN_COUNTER_OFFSET = 1.042 def square(arlo, power, turn_t, drive_t): while True: # Driving forward - arlo.go_diff(power, power + RIGHT_WHEEL_OFFSET, 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 + RIGHT_WHEEL_OFFSET, 0, 1) - sleep(turn_t * 9) + arlo.go_diff(power, power, 0, 1) + sleep(turn_t * 9 * TURN_COUNTER_OFFSET) arlo.stop() sleep(1) diff --git a/turn_test.py b/turn_test.py index 9b3512c..5d5cb6c 100644 --- a/turn_test.py +++ b/turn_test.py @@ -1,37 +1,24 @@ from time import sleep import robot +POWER = 70 TURN_A = 5.3 # 10 degrees turn at power 1 TURN_COUNTER_OFFSET = 1.042 def main(): - # Gets the power for the robot - power = input("Power (64):") - if power == "": - power = 64 - else: - power = int(power) - - # Gets the offset for the robot - offset = input("Offset (4):") - if offset == "": - offset = 64 - else: - offset = int(offset) - # Calculates sleep times for the robot turn_t = 0.076 # 10 degrees turn at given power # Initializes the robot and runs the arlo = robot.Robot() - arlo.go_diff(power, power + offset, 0, 1) + arlo.go_diff(POWER, POWER, 0, 1) sleep(turn_t * 36 * TURN_COUNTER_OFFSET) arlo.stop() sleep(1) - arlo.go_diff(power, power + offset, 1, 0) + arlo.go_diff(POWER, POWER, 1, 0) sleep(turn_t * 36) arlo.stop()