class TestWallFollow(SyncedSketch):
def setup(self):
self.left = Motor(self.tamp, 5, 4)
self.right = Motor(self.tamp, 2, 3)
hugs = Motor(self.tamp, 8, 9)
ir0 = LRIR(self.tamp,14)
ir1 = LRIR(self.tamp,15)
ir2 = LRIR(self.tamp,16)
ir3 = LRIR(self.tamp,17)
self.movement = WallFollow(self.left, self.right, Timer(), ir0, ir1, ir2, ir3)
self.timer = Timer()
self.wintimer = Timer()
def loop(self):
if self.wintimer.millis() < 19600:
if self.timer.millis() > 100:
self.timer.reset()
print self.movement.distance()
# Intended behavior: bot will follow wall
# IR return distance, 50 speed
self.movement.followWall(self.movement.distance(),-FORWARD_SPEED)
elif self.wintimer.millis() < 19900:
self.left.write( 0, 145)
self.right.write( 1, 145)
else:
self.wintimer.reset()
self.left.write(0,0)
self.right.write(0,0)
class TestWallFollow(SyncedSketch):
def setup(self):
self.left = Motor(self.tamp, 5, 4)
self.right = Motor(self.tamp, 2, 3)
hugs = Motor(self.tamp, 8, 9)
ir0 = LRIR(self.tamp, 14)
ir1 = LRIR(self.tamp, 15)
ir2 = LRIR(self.tamp, 16)
ir3 = LRIR(self.tamp, 17)
self.movement = WallFollow(self.left, self.right, Timer(), ir0, ir1,
ir2, ir3)
self.timer = Timer()
self.wintimer = Timer()
def loop(self):
if self.wintimer.millis() < 19600:
if self.timer.millis() > 100:
self.timer.reset()
print self.movement.distance()
# Intended behavior: bot will follow wall
# IR return distance, 50 speed
self.movement.followWall(self.movement.distance(),
-FORWARD_SPEED)
elif self.wintimer.millis() < 19900:
self.left.write(0, 145)
self.right.write(1, 145)
else:
self.wintimer.reset()
self.left.write(0, 0)
self.right.write(0, 0)
def setup(self):
self.left = Motor(self.tamp, 5, 4)
self.right = Motor(self.tamp, 2, 3)
hugs = Motor(self.tamp, 8, 9)
ir0 = LRIR(self.tamp, 14)
ir1 = LRIR(self.tamp, 15)
ir2 = LRIR(self.tamp, 16)
ir3 = LRIR(self.tamp, 17)
self.movement = WallFollow(self.left, self.right, Timer(), ir0, ir1,
ir2, ir3)
self.timer = Timer()
self.wintimer = Timer()
def setup(self):
self.left = Motor(self.tamp, 5, 4)
self.right = Motor(self.tamp, 2, 3)
hugs = Motor(self.tamp, 8, 9)
ir0 = LRIR(self.tamp,14)
ir1 = LRIR(self.tamp,15)
ir2 = LRIR(self.tamp,16)
ir3 = LRIR(self.tamp,17)
self.movement = WallFollow(self.left, self.right, Timer(), ir0, ir1, ir2, ir3)
self.timer = Timer()
self.wintimer = Timer()
