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square.py

@@ -4,37 +4,34 @@ import robot
 POWER = 70
 
 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
 
 CLOCKWISE_OFFSET = 0.96
 
-def square(arlo, drive_t):
+def square(arlo):
     while True:
         # Driving forward
         arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
-        sleep(drive_t * 10)
+        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.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
+        sleep(TURN_T * 9 * CLOCKWISE_OFFSET)
         arlo.stop()
 
         sleep(1)
 
 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
     arlo = robot.Robot()
 
     try:
-        square(arlo, drive_t)
+        square(arlo)
 
     except KeyboardInterrupt:
         arlo.stop()