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()