92 lines
1.8 KiB
Python
92 lines
1.8 KiB
Python
from time import sleep
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import robot
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# Create a robot object and initialize
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arlo = robot.Robot()
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sleep(1)
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# send a go_diff command to drive forward
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leftSpeed = 64
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rightSpeed = 64
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print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
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# Wait a bit while robot moves forward
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sleep(3)
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# send a stop command
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print(arlo.stop())
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sleep(0.05)
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print("Left = " + str(arlo.read_left_wheel_encoder()))
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sleep(0.05)
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print("Right = " + str(arlo.read_right_wheel_encoder()))
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sleep(0.05)
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# send a go_diff command to drive backwards
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leftSpeed = 64
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rightSpeed = 64
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print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
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# Wait a bit while robot moves forward
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sleep(3)
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# send a stop command
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print(arlo.stop())
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sleep(0.05)
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print("Left = " + str(arlo.read_left_wheel_encoder()))
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sleep(0.05)
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print("Right = " + str(arlo.read_right_wheel_encoder()))
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sleep(0.05)
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# send a go_diff command to drive forward in a curve turning right
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leftSpeed = 64
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rightSpeed = 32
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print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
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# Wait a bit while robot moves forward
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sleep(3)
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# send a stop command
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print(arlo.stop())
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sleep(0.05)
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print("Left = " + str(arlo.read_left_wheel_encoder()))
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sleep(0.05)
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print("Right = " + str(arlo.read_right_wheel_encoder()))
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sleep(0.05)
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print(arlo.reset_encoder_counts())
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sleep(0.05)
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print("Left = " + str(arlo.read_left_wheel_encoder()))
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sleep(0.05)
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print("Right = " + str(arlo.read_right_wheel_encoder()))
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sleep(0.05)
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# send a go_diff command to drive backwards the same way we came from
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print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
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# Wait a bit while robot moves backwards
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sleep(3)
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# send a stop command
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print(arlo.stop())
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sleep(0.05)
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print("Left = " + str(arlo.read_left_wheel_encoder()))
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sleep(0.05)
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print("Right = " + str(arlo.read_right_wheel_encoder()))
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sleep(0.05)
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print("Finished")
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