def supermagiskt():
global done
while not done:
m = ultrasonic.get_middle()
u = n + vector.from_polar(m, compass.getHeading())
l = ultrasonic.get_left()
v = n + vector.from_polar(l, compass.getHeading() + math.radians(30))
r = ultrasonic.get_right()
w = n + vector.from_polar(r, compass.getHeading() - math.radians(30))
data = []
if m <= 300 and m >= 15:
data.append([u.x, u.y])
if l <= 300 and l >= 15:
data.append([v.x, v.y])
if r <= 300 and l >= 15:
data.append([w.x, w.y])
if len(data) == 0:
maplogger.log(position=[[n.x, n.y]], heading=compass.getHeading())
else:
maplogger.log(position=[[n.x, n.y]], heading=compass.getHeading(), walls=data)
time.sleep(0.2)
def supermagiskt():
global done
while not done:
m = ultrasonic.get_middle()
u = n + vector.from_polar(m, compass.getHeading())
l = ultrasonic.get_left()
v = n + vector.from_polar(l, compass.getHeading() + math.radians(30))
r = ultrasonic.get_right()
w = n + vector.from_polar(r, compass.getHeading() - math.radians(30))
data = []
if m <= 300 and m >= 15:
data.append([u.x, u.y])
if l <= 300 and l >= 15:
data.append([v.x, v.y])
if r <= 300 and l >= 15:
data.append([w.x, w.y])
if len(data) == 0:
maplogger.log(position=[[n.x, n.y]], heading=compass.getHeading())
else:
maplogger.log(position=[[n.x, n.y]],
heading=compass.getHeading(),
walls=data)
time.sleep(0.2)
try:
maplogger.initialize("/var/www/map.txt")
robot.on_battery_low(avsluta)
compass.calibrate(5)
input("Enter")
logger = threading.Thread(target=supermagiskt)
logger.start()
distance.start_measuring(count)
motors.forward()
t = 0
last = compass.getHeading()
while True:
left = ultrasonic.get_left()
middle = ultrasonic.get_middle()
right = ultrasonic.get_right()
if left <= 50 and right <= 50:
distance.stop_measuring()
motors.stop()
robot.turn_to(compass.getHeading() + math.pi, math.radians(10))
last = compass.getHeading()
distance.start_measuring(count)
motors.forward()
elif left <= 50:
distance.stop_measuring()
motors.stop()
motors.right()
time.sleep(0.5)
motors.stop()
try:
maplogger.initialize("/var/www/map.txt")
robot.on_battery_low(avsluta)
compass.calibrate(5)
input("Enter")
logger = threading.Thread(target=supermagiskt)
logger.start()
distance.start_measuring(count)
motors.forward()
t = 0
last = compass.getHeading()
while True:
left = ultrasonic.get_left()
middle = ultrasonic.get_middle()
right = ultrasonic.get_right()
if left <= 50 and right <= 50:
distance.stop_measuring()
motors.stop()
robot.turn_to(compass.getHeading() + math.pi, math.radians(10))
last = compass.getHeading()
distance.start_measuring(count)
motors.forward()
elif left <= 50:
distance.stop_measuring()
motors.stop()
motors.right()
time.sleep(0.5)
motors.stop()
