def record_working_loop(name='default_rec'):
t = Tortoise()
t.task = RecordingTask(name)
t.walk()
self.past_diffs = deque(maxlen=deque_length)
def step(self):
print '\033[1;36m{}\033[0m'.format('TURNING START')
if self.target_yaw is None:
self.target_yaw = p.yaw.get() + self.want_degree
deg = p.yaw.get()
diff = constrain(self.c.run(self.target_yaw - deg), 0.4, -0.4)
# print deg, diff
p.wheels.set_diff(speed=0, diff=-diff)
print 'deg: {:8f} target yaw:{:8f} '.format(self.target_yaw, deg),
self.past_diffs.append(self.target_yaw - deg)
average_diff = abs(sum([angle for angle in self.past_diffs])) / float(
len(self.past_diffs))
print 'avg: {}'.format(average_diff)
self.finish_flag = average_diff < self.tolerant_angle
print '\033[1;36m{}\033[0m'.format('TURNING END')
return self.finish_flag
if __name__ == '__main__':
tt = Tortoise()
tt.task = Turning(90)
tt.walk()
