✨
This commit is contained in:
15
square.py
15
square.py
@ -4,37 +4,34 @@ import robot
|
|||||||
POWER = 70
|
POWER = 70
|
||||||
|
|
||||||
TURN_T = 0.079 # 10 degrees
|
TURN_T = 0.079 # 10 degrees
|
||||||
DRIVE_A = 16 # 10 centimeter drive at power 1
|
DRIVE_T = 0.22 # 10 centimeter
|
||||||
|
|
||||||
RIGHT_WHEEL_OFFSET = 4
|
RIGHT_WHEEL_OFFSET = 4
|
||||||
|
|
||||||
CLOCKWISE_OFFSET = 0.96
|
CLOCKWISE_OFFSET = 0.96
|
||||||
|
|
||||||
def square(arlo, drive_t):
|
def square(arlo):
|
||||||
while True:
|
while True:
|
||||||
# Driving forward
|
# Driving forward
|
||||||
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
|
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
|
||||||
sleep(drive_t * 10)
|
sleep(DRIVE_T * 10)
|
||||||
arlo.stop()
|
arlo.stop()
|
||||||
|
|
||||||
sleep(1)
|
sleep(1)
|
||||||
|
|
||||||
# Turning 90 degrees
|
# Turning 90 degrees
|
||||||
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
|
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
|
||||||
sleep(TURN_T * 9)
|
sleep(TURN_T * 9 * CLOCKWISE_OFFSET)
|
||||||
arlo.stop()
|
arlo.stop()
|
||||||
|
|
||||||
sleep(1)
|
sleep(1)
|
||||||
|
|
||||||
def main():
|
def main():
|
||||||
# Calculates sleep times for the robot
|
|
||||||
drive_t = DRIVE_A / POWER # 10 centimeter drive at given power
|
|
||||||
|
|
||||||
# Initializes the robot and runs the
|
# Initializes the robot and runs the
|
||||||
arlo = robot.Robot()
|
arlo = robot.Robot()
|
||||||
|
|
||||||
try:
|
try:
|
||||||
square(arlo, drive_t)
|
square(arlo)
|
||||||
|
|
||||||
except KeyboardInterrupt:
|
except KeyboardInterrupt:
|
||||||
arlo.stop()
|
arlo.stop()
|
||||||
|
Reference in New Issue
Block a user