print("Initialized")
print("Initializing RoboRoach... (make sure board is on)")
roboroach = RoboRoach(mac_address="90:59:AF:14:08:E8")
# Standard period is ~19.2ms == ~52Hz
roboroach._set_freq(5)
# Standard pulse width is ~10.4ms
roboroach._set_pw(200)
# Standard gain is ~50 == ~150mV (gain 1 == 3mV)
roboroach._set_gain(255)
# Standard number of pulses is 1
roboroach._set_np(1)
print("Initialized")
##########################
####### CALIBRATION
##########################
print("Starting calibration... (press <Ctrl-C> to finish)")
ref_pos = []
try:
while True:
pos = polaris_driver.getPositionFromBX("1801")
if not 'miss' in pos:
ref_pos.append(pos)
time.sleep(0.1);
