From ef9cabcaa51223b453a10128d1afe9ecf35ea965 Mon Sep 17 00:00:00 2001 From: NikolajDanger Date: Mon, 24 Oct 2022 14:56:26 +0200 Subject: [PATCH] :sparkles: --- rally.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/rally.py b/rally.py index 0a192fc..6aa8431 100644 --- a/rally.py +++ b/rally.py @@ -47,14 +47,12 @@ def careful_forward(drive_time, arlo, careful_range = 600): forward_dist = arlo.read_front_ping_sensor() right_dist = arlo.read_right_ping_sensor() left_dist = arlo.read_left_ping_sensor() - if forward_dist > careful_range and all(x > 300 for x in [right_dist, left_dist]): - print("not blocked") + if forward_dist > careful_range and all(x > 400 for x in [right_dist, left_dist]): turning = None arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) else: - print("blocked") hit_something = True - if turning == "R" or (forward_dist > careful_range and right_dist > 200 and turning is None): + if turning == "R" or (forward_dist > careful_range and right_dist > 400 and turning is None): arlo.go_diff(POWER, POWER, 1, 0) turning = "R" else: @@ -74,6 +72,7 @@ def main(): while landmark_order != []: landmark = landmark_order.pop(0) + print(f"looking for landmark {landmark}") while True: while True: