turn_test.py

square.py

@@ -6,11 +6,11 @@ POWER = 70
 TURN_T = 0.079 # 10 degrees
 DRIVE_T = 0.22 # 10 centimeter
 
-RIGHT_WHEEL_OFFSET = 0
+RIGHT_WHEEL_OFFSET = 4
 
 CLOCKWISE_OFFSET = 0.96
 
-def square(arlo):
+def clockwise_square(arlo):
     while True:
         # Driving forward
         arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
@@ -26,12 +26,33 @@ def square(arlo):
 
         sleep(1)
 
+def counter_square(arlo):
+    while True:
+        # Driving forward
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 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.stop()
+
+        sleep(1)
+
 def main():
     # Initializes the robot and runs the
     arlo = robot.Robot()
 
+    direction = int(input("clockwise (1)/counter (2):"))
+
     try:
-        square(arlo)
+        if direction == 1:
+            clockwise_square(arlo)
+        else:
+            counter_square(arlo)
 
     except KeyboardInterrupt:
         arlo.stop()