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NikolajDanger
2022-09-14 14:50:35 +02:00
parent 652394544e
commit a9e0295434
1 changed files with 5 additions and 2 deletions
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7
careful_forward.py
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@@ -12,12 +12,15 @@ def careful_forward(drive_time, arlo):
forward_dist = arlo.read_front_ping_sensor() forward_dist = arlo.read_front_ping_sensor()
right_dist = arlo.read_right_ping_sensor() right_dist = arlo.read_right_ping_sensor()
left_dist = arlo.read_left_ping_sensor() left_dist = arlo.read_left_ping_sensor()
if forward_dist > 400 and all(x > 300 for x in [right_dist, left_dist]): if forward_dist > 400 and all(x > 150 for x in [right_dist, left_dist]):
print("not blocked") print("not blocked")
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
else: else:
print("blocked") print("blocked")
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1) if right_dist > 150:
arlo.go_diff(POWER, POWER, 1, 0)
else:
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
time.sleep(0.1) time.sleep(0.1)