# Play a note to let us know you're alive!
bot.playNote('A4', 100)
#while True:
# Tell the Create2 to turn CCW slowly
#bot.setTurnSpeed(-50)
# Wait a second allows turn of 180
#time.sleep(7.13)
# Stop
#bot.setTurnSpeed(0)
#FWD
bot.direct(30, 30)
#recieve sensor data and stop at black line < 2000
timer = 0
rightsensor = 2000
leftsensor = 2000
while rightsensor >= 2000 and leftsensor >= 2000:
bot._get_sensor_packet()
leftsensor = bot.robot.sensor_state['cliff front left signal']
rightsensor = bot.robot.sensor_state['cliff front right signal']
time.sleep(0.015)
# Wait a second
#time.sleep(1)
#Stop direct
while True:
try:
val = hx.get_weight(17)
if val >= 100000:
time.sleep(1)
if val >= 100000:
break
else:
print("Waiting...")
except (KeyboardInterrupt, SystemExit):
cleanAndExit()
bot.safe()
bot.direct(-100, -100)
time.sleep(0.5)
bot.direct(0, 0)
time.sleep(0.25)
while True:
IO.output(22, 0)
IO.output(23, 0)
IO.output(24, 0)
if (IO.input(5) == True): #LL IR senses tape
array[0] = 1
if (IO.input(5) == False): #LL IR does not sense tape
array[0] = 0
IO.output(22, 1)