From ce143a9d156e8cdc603c5fdb647934875bc8afff Mon Sep 17 00:00:00 2001 From: NikolajDanger Date: Wed, 14 Sep 2022 14:36:21 +0200 Subject: [PATCH] :sparkles: --- careful_forward.py | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) create mode 100644 careful_forward.py diff --git a/careful_forward.py b/careful_forward.py new file mode 100644 index 0000000..1303584 --- /dev/null +++ b/careful_forward.py @@ -0,0 +1,27 @@ +import time +import robot + +POWER = 70 + +RIGHT_WHEEL_OFFSET = 5 + +def careful_forward(drive_time, arlo): + start = time.time() + end = start + drive_time + while time.time() < end: + forward_dist = arlo.read_front_ping_sensor() + right_dist = arlo.read_right_ping_sensor() + left_dist = arlo.read_left_ping_sensor() + if all(x < 100 for x in [forward_dist, right_dist, left_dist]): + arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) + else: + arlo.stop() + time.sleep(0.1) + +def main(): + drive_time = int(input()) + arlo = robot.Robot() + careful_forward(drive_time, arlo) + +if __name__ == "__main__": + main()