def _turnMotors(leftMotorSpeed=100, rightMotorSpeed=100, indent=1):
if _check():
_trace("{:{}}Turn motors at L={} R={}".format(" ", indent * 3,
leftMotorSpeed,
rightMotorSpeed))
pz.setMotor(MOTOR_LEFT, leftMotorSpeed)
pz.setMotor(MOTOR_RIGHT, rightMotorSpeed)
def _moveTime(motorSpeed=100, seconds=0, indent=1):
if _check():
_trace ("{:{}}Move for {} seconds at speed {}".format(" ", indent*3, round(seconds,3), motorSpeed))
pz.setMotor(MOTOR_LEFT, motorSpeed)
pz.setMotor(MOTOR_RIGHT, motorSpeed)
time.sleep(seconds)
stop()
_bufferWait()
def _spinTime(seconds, direction=1, indent=1):
if _check():
pz.setMotor(MOTOR_LEFT, int(100 * math.copysign(1, direction)))
pz.setMotor(MOTOR_RIGHT, int(100 * math.copysign(1, -direction)))
_trace("{:{}}Spin for {} seconds".format(" ", indent * 3, seconds))
time.sleep(seconds)
stop()
_bufferWait()
def _spinAngle(degrees, indent=1):
if _check():
pz.setMotor(MOTOR_LEFT, int(100 * math.copysign(1,degrees)))
pz.setMotor(MOTOR_RIGHT, int(100 * math.copysign(1,-degrees)))
seconds = abs(degrees) / 360.0 / _calibratedSpinsPerSecond
_trace ("{:{}}Spin Angle {} for {} seconds".format(" ", indent*3, degrees, round(seconds,2)))
time.sleep(seconds)
stop()
_bufferWait()
def stop():
pz.setMotor(MOTOR_LEFT, 0)
pz.setMotor(MOTOR_RIGHT, 0)