Robot.start_Time = time.time()
Robot.Forward()
while True:
if Robot.sen.distance() < 50:
Robot.StopForward()
Robot.end_Time = time.time()
print("start new measurement")
time.sleep(0.5)
# determining the distance traveled
print("new positons: ")
new_posittion = Compass.compass_angle(
x_csv_offset, y_csv_offset)
#print("angle: " + str(roud) )
#print("angle after stopping: " + str(new_posittion))
#print("determining the distance:")
real_roud = Robot.DistanceToCheck()
# determining the new postion
new_x = real_roud * math.cos(
np.radians(new_posittion)) + old_x
new_y = real_roud * math.sin(
np.radians(new_posittion)) + old_y
print("position x: " + str(new_x) + " y " + str(new_y))
# making distance measurements
position = Robot.TakeMeasurments(x_csv_offset,
y_csv_offset)
position_mmaping[i] = position
measursment_list.append(
[new_x, new_y, real_roud, new_posittion])
old_x = new_x
old_y = new_y
