def setBothS(left, right): groundSensors = getGroundSensorR() while groundSensors[0] < 100 or groundSensors[1] < 100: clear() print("Warning: Thymio is about to fall from the table") setRight(0) setLeft(0) groundSensors = getGroundSensorR() setRight(right) setLeft(left)
emdsLeft = (-motionX[0:motionX.shape[0],0:motionX.shape[1]/2]).clip(min = 0) emdsRight = motionX[0:motionX.shape[0],motionX.shape[1]/2:motionX.shape[1]].clip(min = 0) meanLeft = np.mean(emdsLeft) meanRight = np.mean(emdsRight) adjustmentProportionLeft = meanLeft/(meanLeft+meanRight) adjustmentProportionRight = meanRight/(meanLeft+meanRight) t1 = clock() thymio.setBothSaveWaitUntilReadyAndReturnTime(speed * adjustmentProportionLeft * 2, speed * adjustmentProportionRight * 2) sleep(t1 -t0) _div.clear() print (t1-t0) #sleep(timeTurn) # groundSensors = thymio.getGroundSensorR() # if groundSensors[0] < 100 or groundSensors[1] < 100: # print("Warning Thymio is about to fall from the table") # thymio.setRight(0) # thymio.setLeft(0) # else: # print("left: %.3f, right: %.3f" % (meanMovementLeft,meanMovementRight))