✨

rally2.py

@@ -277,12 +277,10 @@ def turn_90_degrees(noah, est_pose, particles):
     return est_pose, particles
 
 
-def main():
+def main(noah):
     landmark_order = LANDMARKS + [
         LANDMARKS[0]
     ]
-
-    noah = robot.Robot()  # Noah er vores robots navn
     cam = camera.Camera(0, 'arlo', useCaptureThread=True)
     particles = initialize_particles(NUM_PARTICLES)
 
@@ -307,4 +305,8 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    noah = robot.Robot()  # Noah er vores robots navn
+    try:
+        main(noah)
+    except KeyboardInterrupt:
+        noah.stop()