endAll = False
PROX_THRESHOLD = 40
FLOOR_THRESHOLD = 50
fsm = FSM(["free", "turnLeft", "turnRight", "exit"],
"free",
failActionSilently=True,
verbose=True)
fsm.addTransition(
"obstacleLeft",
"free",
"turnLeft",
)
fsm.addTransition("obstacleRight", "free", "turnRight")
fsm.addMultipleTransitions("noObstacle", ["turnLeft", "turnRight"], "free")
fsm.addTransition("line", "free", "exit")
def freeCb():
tankDrive(50, 50)
def turnLeftCb():
tankDrive(-50, 50)
def turnRightCb():
tankDrive(50, -50)
