NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-07 15:05:06 +02:00
parent 4c77b64049
commit e642f13e8e
1 changed files with 12 additions and 0 deletions
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12
square.py
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@ -10,6 +10,15 @@ RIGHT_WHEEL_OFFSET = 4
CLOCKWISE_OFFSET = 0.82 CLOCKWISE_OFFSET = 0.82
def wiggle(arlo):
arlo.go_diff(50, 53, 1, 0)
sleep(TURN_T * CLOCKWISE_OFFSET * 2)
arlo.stop()
sleep(0.3)
arlo.go_diff(50, 53, 0, 1)
sleep(TURN_T * 2)
arlo.stop()
def clockwise_square(arlo): def clockwise_square(arlo):
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
sleep(TURN_T * 0.5) sleep(TURN_T * 0.5)
@ -36,6 +45,9 @@ def clockwise_square(arlo):
sleep(1) sleep(1)
for _ in range(6):
wiggle(arlo)
def counter_square(arlo): def counter_square(arlo):
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
sleep(TURN_T * 0.5) sleep(TURN_T * 0.5)