NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-24 14:44:34 +02:00
parent 1f763a512f
commit 4ac0ebbd22
1 changed files with 6 additions and 1 deletions
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7
rally.py
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@ -42,6 +42,7 @@ def careful_forward(drive_time, arlo):
start = time.time() start = time.time()
end = start + drive_time end = start + drive_time
turning = None turning = None
hit_something = False
while time.time() < end: while time.time() < end:
forward_dist = arlo.read_front_ping_sensor() forward_dist = arlo.read_front_ping_sensor()
right_dist = arlo.read_right_ping_sensor() right_dist = arlo.read_right_ping_sensor()
@ -52,6 +53,7 @@ def careful_forward(drive_time, arlo):
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
else: else:
print("blocked") print("blocked")
hit_something = True
if turning == "R" or (forward_dist > 600 and right_dist > 200 and turning is None): if turning == "R" or (forward_dist > 600 and right_dist > 200 and turning is None):
arlo.go_diff(POWER, POWER, 1, 0) arlo.go_diff(POWER, POWER, 1, 0)
turning = "R" turning = "R"
@ -61,6 +63,8 @@ def careful_forward(drive_time, arlo):
time.sleep(0.01) time.sleep(0.01)
return hit_something
def main(): def main():
landmark_order = LANDMARKS + [ landmark_order = LANDMARKS + [
LANDMARKS[0] LANDMARKS[0]
@ -105,7 +109,8 @@ def main():
time.sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000) time.sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
noah.stop() noah.stop()
careful_forward((drive_distance * DRIVE_T)/1000, noah) if not careful_forward((drive_distance * DRIVE_T)/1000, noah):
break
if __name__ == "__main__": if __name__ == "__main__":
main() main()