start = time()
finch.wheels(0.5, 0.5)
sleep(0.1)
while True:
left_obstacle, right_obstacle = finch.obstacle()
if left_obstacle or right_obstacle:
half_lap_time = time() - start
finch.wheels(0, 0)
break
print('Obstacle found, backing up')
# Move backwards for the same amount of time spent moving forward
finch.wheels(-0.5, -0.5)
sleep(half_lap_time)
laps -= 1
# Now lapswim!
while laps > 0:
finch.wheels(0.5, 0.5)
sleep(half_lap_time)
finch.wheels(0, 0)
sleep(0.1)
finch.wheels(-0.5, -0.5)
sleep(half_lap_time)
laps -= 1
finch.close()
from time import sleep
# Instantiate the Finch object and connect to Finch
tweety = Finch()
# Get the Z-Axis acceleration
zAccel = tweety.acceleration()[2]
# Do the following while the Finch is not upside down (z value in gees above -0.7)
while zAccel > -0.7:
left_obstacle, right_obstacle = tweety.obstacle()
# If there's an obstacle on the left, back up and arc
if left_obstacle:
tweety.led(255,0,0)
tweety.wheels(-0.3,-1.0)
sleep(1.0)
# Back up and arc in the opposite direction if there's something on the right
elif right_obstacle:
tweety.led(255,255,0)
tweety.wheels(-1.0, -0.3)
sleep(1.0)
# Else just go straight
else:
tweety.wheels(1.0, 1.0)
tweety.led(0,255,0)
# Keep reading in the Z acceleration
zAccel = tweety.acceleration()[2]
tweety.close()
snakyFinch = Finch() # Do a six step dance snakyFinch.led(255,0,0) snakyFinch.wheels(1,1) sleep(1) snakyFinch.led(0,255,0) snakyFinch.wheels(0,1) sleep(1) snakyFinch.led(0,0,255) snakyFinch.wheels(1,0) sleep(1) snakyFinch.led(255,0,255) snakyFinch.wheels(-1,-1) sleep(0.5) snakyFinch.led(0,255,255) snakyFinch.wheels(0.2,-1) sleep(1) snakyFinch.led(255,255,255) snakyFinch.wheels(0.3,0.3) sleep(2.5) snakyFinch.close();
window.addstr(2, 0, "Finch goes forward!")
myFinch.wheels(1, 1)
sleep(0.1)
myFinch.halt()
elif key == curses.KEY_DOWN:
window.clrtobot()
window.addstr(2, 0, "Finch goes backwards!")
myFinch.wheels(-1, -1)
sleep(0.1)
myFinch.halt()
elif key == curses.KEY_LEFT:
window.clrtobot()
window.addstr(2, 0, "Finch goes left!")
myFinch.wheels(0, 1)
sleep(0.1)
myFinch.halt()
elif key == curses.KEY_RIGHT:
window.clrtobot()
window.addstr(2, 0, "Finch goes right!")
myFinch.wheels(1, 0)
sleep(0.1)
myFinch.halt()
curses.endwin()
#Close connection with finch
myFinch.close()
