NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-24 14:56:26 +02:00
parent d3db855dad
commit ef9cabcaa5
1 changed files with 3 additions and 4 deletions
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7
rally.py
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@ -47,14 +47,12 @@ def careful_forward(drive_time, arlo, careful_range = 600):
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 > careful_range and all(x > 300 for x in [right_dist, left_dist]): if forward_dist > careful_range and all(x > 400 for x in [right_dist, left_dist]):
print("not blocked")
turning = None turning = None
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
else: else:
print("blocked")
hit_something = True 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) arlo.go_diff(POWER, POWER, 1, 0)
turning = "R" turning = "R"
else: else:
@ -74,6 +72,7 @@ def main():
while landmark_order != []: while landmark_order != []:
landmark = landmark_order.pop(0) landmark = landmark_order.pop(0)
print(f"looking for landmark {landmark}")
while True: while True:
while True: while True: