def make_circle_right(power, radius, degree):
global O, car_width
calibrate()
outer_distance = ((radius + car_width / 2.0) * 2) * math.pi
inned_distance = ((radius - car_width / 2.0) * 2) * math.pi
outer_rotations = outer_distance / O
inner_rotations = inned_distance / O
inner_degrees = inner_rotations * degree
outer_degrees = outer_rotations * degree
ratio = inner_degrees / outer_degrees
motorRotateDegree([power, int(power * ratio)], [int(outer_degrees), int(inner_degrees)], [PORT_A, PORT_B])
def make_circle_left(power, radius, degree): # radius in cm
global O, car_width
calibrate()
outer_distance = (2 * radius + car_width) * math.pi
inned_distance = (2 * radius - car_width) * math.pi
outer_rotations = outer_distance / O
inner_rotations = inned_distance / O
inner_degrees = inner_rotations * degree
outer_degrees = outer_rotations * degree
ratio = inner_degrees / outer_degrees
motorRotateDegree([power, int(power * ratio)], [int(outer_degrees), int(inner_degrees)], [PORT_B, PORT_A])
def rotate_right_angle(power, angle):
# Angle in degrees
goal_angle_wheel = int((angle * car_width * 2) / 5.6) # in graden
motorRotateDegree([power, 0], [goal_angle_wheel, 0], [PORT_A, PORT_B])
