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test_arduino_encoders.py

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+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")