From 4f0bb76e55c6fb0da0bf5f556563fdcb13567c4e Mon Sep 17 00:00:00 2001
From: NikolajDanger <nikolajgade@live.dk>
Date: Mon, 5 Sep 2022 13:59:25 +0200
Subject: [PATCH] :sparkles:

---
 encoder_free.py          | 69 ++++++++++++++++++++++++++++++
 test_arduino_encoders.py | 92 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 161 insertions(+)
 create mode 100644 encoder_free.py
 create mode 100644 test_arduino_encoders.py

diff --git a/encoder_free.py b/encoder_free.py
new file mode 100644
index 0000000..e3e7800
--- /dev/null
+++ b/encoder_free.py
@@ -0,0 +1,69 @@
+import time
+from time import sleep
+
+import robot
+
+# Create a robot object and initialize
+arlo = robot.Robot()
+
+
+sleep(1)
+
+
+# request to read Front sonar ping sensor
+print("Front sensor = ", arlo.read_front_ping_sensor())
+
+# request to read Back sonar ping sensor
+print("Back sensor = ", arlo.read_back_ping_sensor())
+
+# request to read Right sonar ping sensor
+print("Right sensor = ", arlo.read_right_ping_sensor())
+
+# request to read Left sonar ping sensor
+print("Left sensor = ", arlo.read_left_ping_sensor())
+
+
+# send a go_diff command to drive forward in a curve turning right
+leftSpeed = 64
+rightSpeed = 64
+print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
+
+# Wait a bit while robot moves forward
+sleep(3)
+
+
+# send a go_diff command to drive forward in a curve turning right
+leftSpeed = 64
+rightSpeed = 64
+print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
+
+# Wait a bit while robot moves forward
+sleep(3)
+
+
+
+# send a go_diff command to drive forward in a curve turning right
+leftSpeed = 64
+rightSpeed = 32
+print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
+
+# Wait a bit while robot moves forward
+sleep(3)
+
+# send a stop command
+print(arlo.stop())
+
+sleep(0.05)
+
+
+# send a go_diff command to drive backwards the same way we came from
+print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
+
+# Wait a bit while robot moves backwards
+sleep(3)
+
+# send a stop command
+print(arlo.stop())
+
+
+print("Finished")
diff --git a/test_arduino_encoders.py b/test_arduino_encoders.py
new file mode 100644
index 0000000..d208cef
--- /dev/null
+++ b/test_arduino_encoders.py
@@ -0,0 +1,92 @@
+import time
+from time import sleep
+
+import robot
+
+# Create a robot object and initialize
+arlo = robot.Robot()
+
+
+sleep(1)
+
+
+
+# send a go_diff command to drive forward 
+leftSpeed = 64
+rightSpeed = 64
+print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
+
+# Wait a bit while robot moves forward
+sleep(3)
+
+# send a stop command
+print(arlo.stop())
+sleep(0.05)
+
+print("Left = " + str(arlo.read_left_wheel_encoder()))
+sleep(0.05)
+print("Right = " + str(arlo.read_right_wheel_encoder()))
+sleep(0.05)
+
+
+# send a go_diff command to drive backwards
+leftSpeed = 64
+rightSpeed = 64
+print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
+
+# Wait a bit while robot moves forward
+sleep(3)
+
+# send a stop command
+print(arlo.stop())
+sleep(0.05)
+
+
+print("Left = " + str(arlo.read_left_wheel_encoder()))
+sleep(0.05)
+print("Right = " + str(arlo.read_right_wheel_encoder()))
+sleep(0.05)
+
+
+
+# send a go_diff command to drive forward in a curve turning right
+leftSpeed = 64
+rightSpeed = 32
+print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
+
+# Wait a bit while robot moves forward
+sleep(3)
+
+# send a stop command
+print(arlo.stop())
+
+sleep(0.05)
+
+print("Left = " + str(arlo.read_left_wheel_encoder()))
+sleep(0.05)
+print("Right = " + str(arlo.read_right_wheel_encoder()))
+sleep(0.05)
+print(arlo.reset_encoder_counts())
+sleep(0.05)
+print("Left = " + str(arlo.read_left_wheel_encoder()))
+sleep(0.05)
+print("Right = " + str(arlo.read_right_wheel_encoder()))
+sleep(0.05)
+
+# send a go_diff command to drive backwards the same way we came from
+print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
+
+# Wait a bit while robot moves backwards
+sleep(3)
+
+# send a stop command
+print(arlo.stop())
+sleep(0.05)
+
+print("Left = " + str(arlo.read_left_wheel_encoder()))
+sleep(0.05)
+print("Right = " + str(arlo.read_right_wheel_encoder()))
+sleep(0.05)
+
+
+print("Finished")