NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-07 13:46:37 +02:00
parent 7bf7e767f5
commit f3928da22d
1 changed files with 12 additions and 1 deletions
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13
square.py
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@ -11,6 +11,11 @@ RIGHT_WHEEL_OFFSET = 4
CLOCKWISE_OFFSET = 0.96 CLOCKWISE_OFFSET = 0.96
def clockwise_square(arlo): def clockwise_square(arlo):
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
sleep(TURN_T * 0.5)
arlo.stop()
sleep(0.5)
for _ in range(4): for _ in range(4):
# Driving forward # Driving forward
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
@ -21,8 +26,13 @@ def clockwise_square(arlo):
# Turning 90 degrees # Turning 90 degrees
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0) arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
sleep(TURN_T * 9 * CLOCKWISE_OFFSET) sleep(TURN_T * 10 * CLOCKWISE_OFFSET)
arlo.stop() arlo.stop()
sleep(0.2)
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
sleep(TURN_T)
arlo.stop()
sleep(1) sleep(1)
@ -30,6 +40,7 @@ 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)
arlo.stop() arlo.stop()
sleep(0.5)
for _ in range(4): for _ in range(4):
# Driving forward # Driving forward