square

square.py

@@ -1,23 +1,30 @@
 from time import sleep
 import robot
 
-POWER = 64
-TURN_TIME = 0.75
-DRIVE_TIME = 2.5
+DRIVE_A = 5.3 # 10 degrees turn at power 1
+TURN_A = 16 # 10 centimeter drive at power 1
 
 def main():
+    power = input("Power (64):")
+    if power == "":
+        power = 64
+    else:
+        power = int(power)
+
+    turn_t = (DRIVE_A / power) * 9 # 10 degrees turn at given power
+    drive_t = (TURN_A / power) * 10 # 10 centimeter drive at given power
     arlo = robot.Robot()
 
     try:
         while True:
             # Driving forward
-            arlo.go_diff(POWER, POWER, 1, 1)
-            sleep(DRIVE_TIME)
+            arlo.go_diff(power, power, 1, 1)
+            sleep(drive_t)
             arlo.stop()
 
             # Turning 90 degrees
-            arlo.go_diff(POWER, POWER, 1, 0)
-            sleep(TURN_TIME)
+            arlo.go_diff(power, power, 1, 0)
+            sleep(turn_t)
             arlo.stop()
 
     except KeyboardInterrupt:
@@ -25,4 +32,5 @@ def main():
 
 
 if __name__ == "__main__":
+
     main()