✨

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)
+        arlo.go_diff(power, power, 0, 1)
-        sleep(turn_t * 9)
+        sleep(turn_t * 9 * TURN_COUNTER_OFFSET)
         arlo.stop()
 
         sleep(1)

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()