83 lines
1.7 KiB
Python
83 lines
1.7 KiB
Python
from time import sleep
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import robot
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POWER = 70
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TURN_T = 0.079 # 10 degrees
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DRIVE_T = 0.22 # 10 centimeter
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RIGHT_WHEEL_OFFSET = 4
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CLOCKWISE_OFFSET = 0.96
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def clockwise_square(arlo):
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arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
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sleep(TURN_T * 0.5)
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arlo.stop()
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sleep(0.5)
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for _ in range(4):
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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, 1, 0)
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sleep(TURN_T * 10 * CLOCKWISE_OFFSET)
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arlo.stop()
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sleep(0.2)
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arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
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sleep(TURN_T)
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arlo.stop()
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sleep(1)
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def counter_square(arlo):
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arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
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sleep(TURN_T * 0.5)
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arlo.stop()
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sleep(0.5)
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for _ in range(4):
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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(0.5)
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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 * 10)
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arlo.stop()
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sleep(0.2)
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arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
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sleep(TURN_T)
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arlo.stop()
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sleep(0.5)
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def main():
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# Initializes the robot and runs the
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arlo = robot.Robot()
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direction = int(input("clockwise (1)/counter (2):"))
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try:
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if direction == 1:
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clockwise_square(arlo)
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else:
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counter_square(arlo)
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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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