def drive_forwards_to_distance(distance=distance_to_wall):
# counter =0
print("drive_forwards_to_distance()")
while DalekSensors.front_distance != distance:
# get the speed to drive at
speed = CalculateSpeedToDrive(DalekSensors.front_distance, distance)
if DalekSensors.front_distance <= distance:
drive.backward(speed)
print("drive_backwards()")
else:
drive.paddleForward(speed, speed)
drive.stop()
def tank_drive(_leftPaddle, _rightPaddle):
debug.print_to_all_devices("left: {} Right: {}".format(
_leftPaddle, _rightPaddle))
if (_leftPaddle == 0) and (_rightPaddle == 0):
drive.stop()
debug.clear()
elif (_leftPaddle < 0) and (_rightPaddle < 0):
drive.paddleForward(-_leftPaddle, -_rightPaddle)
# debug.print_to_all_devices("forwards","Fw")
elif (_leftPaddle > 0) and (_rightPaddle > 0):
drive.paddleBackward(_leftPaddle, _rightPaddle)
# debug.print_to_all_devices("Backwards", "Bw")
elif (_leftPaddle <= 0) and (_rightPaddle >= 0):
drive.turnForwardRight(-_leftPaddle, _rightPaddle)
# debug.print_to_all_devices("Spin Right", "SR")
elif (_leftPaddle >= 0) and (_rightPaddle <= 0):
drive.turnForwardLeft(_leftPaddle, -_rightPaddle)