31 lines
795 B
Python
31 lines
795 B
Python
import time
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import robot
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POWER = 70
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RIGHT_WHEEL_OFFSET = 5
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def careful_forward(drive_time, arlo):
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start = time.time()
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end = start + drive_time
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while time.time() < end:
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forward_dist = arlo.read_front_ping_sensor()
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right_dist = arlo.read_right_ping_sensor()
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left_dist = arlo.read_left_ping_sensor()
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if forward_dist > 400 and all(x > 300 for x in [right_dist, left_dist]):
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print("not blocked")
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arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
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else:
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print("blocked")
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arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
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time.sleep(0.1)
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def main():
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drive_time = int(input())
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arlo = robot.Robot()
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careful_forward(drive_time, arlo)
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if __name__ == "__main__":
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main()
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