✨

rally.py

@@ -42,6 +42,7 @@ def careful_forward(drive_time, arlo):
     start = time.time()
     end = start + drive_time
     turning = None
+    hit_something = False
     while time.time() < end:
         forward_dist = arlo.read_front_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)
         else:
             print("blocked")
+            hit_something = True
             if turning == "R" or (forward_dist > 600 and right_dist > 200 and turning is None):
                 arlo.go_diff(POWER, POWER, 1, 0)
                 turning = "R"
@@ -61,6 +63,8 @@ def careful_forward(drive_time, arlo):
 
         time.sleep(0.01)
 
+    return hit_something
+
 def main():
     landmark_order = LANDMARKS + [
         LANDMARKS[0]
@@ -105,7 +109,8 @@ def main():
                 time.sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
                 noah.stop()
 
-            careful_forward((drive_distance * DRIVE_T)/1000, noah)
+            if not careful_forward((drive_distance * DRIVE_T)/1000, noah):
+                break
 
 if __name__ == "__main__":
     main()