NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-07 12:02:45 +02:00
parent 2b19bc117d
commit 393e3e3ea2
2 changed files with 7 additions and 20 deletions
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8
square.py
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@ -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)

19
turn_test.py
View File

@ -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()