def move_straight(max_distance, speed_mm_s=DEFAULT_SPEED): left_motor.reset_angle(0) right_motor.reset_angle(0) log_string('Move stratight at speed ' + str(speed_mm_s) + ' dist ' + str(max_distance)) duration = abs(int(1000 * max_distance / speed_mm_s)) robot.drive_time(speed_mm_s, 0, duration) robot.stop(stop_type=Stop.BRAKE)
def turn(angle, speed_mm_s=DEFAULT_SPEED): if angle > 0: # right turns are a bit under-steered angle = int(1.1 * angle) else: angle = int(angle / 1) robot.drive_time(0, angle, 1000) robot.stop(stop_type=Stop.BRAKE)
def bus_mis_2_to_home(): robot.drive_time(150, 0, 2000)
def bus_mis_1_to_mis_2(): robot.drive_time(150, 0, 2000)
def bus_base_to_mis_1(): robot.drive_time(150, 0, 2000)
def turn_arc(distance,angle, speed_mm_s): duration_ms = 1000* abs(distance / speed_mm_s) steering_speed = (angle / duration_ms) * 1000 robot.drive_time(speed_mm_s, steering_speed, duration_ms)
def turn(angle): robot.drive_time(0, angle, 1000)
def mis_1_traffic(): robot.drive_time(150, 0, 2000)
def turn_arc(distance, angle): robot.drive_time(distance, angle, 1000)