50 lines
1.0 KiB
Python
50 lines
1.0 KiB
Python
from time import sleep
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import robot
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DRIVE_A = 5.3 # 10 degrees turn at power 1
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TURN_A = 16 # 10 centimeter drive at power 1
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RIGHT_WHEEL_OFFSET = 4
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def square(arlo, power, turn_t, drive_t):
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while True:
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# Driving forward
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arlo.go_diff(power, power + RIGHT_WHEEL_OFFSET, 1, 1)
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sleep(drive_t * 10)
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arlo.stop()
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sleep(1)
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# Turning 90 degrees
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arlo.go_diff(power, power + RIGHT_WHEEL_OFFSET, 0, 1)
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sleep(turn_t * 9)
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arlo.stop()
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sleep(1)
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def main():
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# Gets the power for the robot
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power = input("Power (64):")
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if power == "":
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power = 64
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else:
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power = int(power)
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# Calculates sleep times for the robot
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turn_t = DRIVE_A / power # 10 degrees turn at given power
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drive_t = TURN_A / power # 10 centimeter drive at given power
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# Initializes the robot and runs the
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arlo = robot.Robot()
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try:
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square(arlo, power, turn_t, drive_t)
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except KeyboardInterrupt:
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arlo.stop()
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if __name__ == "__main__":
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main()
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