NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-24 14:49:07 +02:00
parent 4ac0ebbd22
commit d8647d4466
1 changed files with 4 additions and 4 deletions
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8
rally.py
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@ -38,7 +38,7 @@ def find_aruco(image):
return {ids[i][0]: box[0] for i, box in enumerate(corners)}
def careful_forward(drive_time, arlo):
def careful_forward(drive_time, arlo, careful_range = 600):
start = time.time()
end = start + drive_time
turning = None
@ -47,14 +47,14 @@ def careful_forward(drive_time, arlo):
forward_dist = arlo.read_front_ping_sensor()
right_dist = arlo.read_right_ping_sensor()
left_dist = arlo.read_left_ping_sensor()
if forward_dist > 600 and all(x > 200 for x in [right_dist, left_dist]):
if forward_dist > careful_range and all(x > 200 for x in [right_dist, left_dist]):
print("not blocked")
turning = None
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
else:
print("blocked")
hit_something = True
if turning == "R" or (forward_dist > 600 and right_dist > 200 and turning is None):
if turning == "R" or (forward_dist > careful_range and right_dist > 200 and turning is None):
arlo.go_diff(POWER, POWER, 1, 0)
turning = "R"
else:
@ -109,7 +109,7 @@ def main():
time.sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
noah.stop()
if not careful_forward((drive_distance * DRIVE_T)/1000, noah):
if not careful_forward((drive_distance * DRIVE_T)/1000, noah, 200):
break
if __name__ == "__main__":