# %% print("Setting arm motors to position 0...") motor_left_arm.run_to_position(0) motor_right_arm.run_to_position(0) print("DONE!") # %% [markdown] # # Configure sensor # %% print("Configuring sensors...") color_sensor = ColorSensor('C') distance_sensor = DistanceSensor('D') distance_sensor.light_up_all() print("DONE!") # %% [markdown] # # Make Charlie roam around # %% print("Roaming...") # While testing, it can be quite annoying having Charlie moving around. # If you wish, you can just comment the following line. This way, # Charlie will stay still while you test your program. motors_wheels.start() # %% [markdown] # # Define distance function
sine_wave_w_params(AMPLITUDE * (1 - DAMPENING * 2), PERIOD, DELAY_FACTOR * 2), sine_wave_w_params(AMPLITUDE * (1 - DAMPENING * 3), PERIOD, DELAY_FACTOR * 3), ] snake_body = Mechanism(motors, motorfuncs) while not rcv.is_connected(): print("Waiting for connection...") sleep_ms(300) eyes = 100 timer = AMHTimer() while rcv.is_connected(): speed, turn, delay_setting = rcv.controller_state(R_STICK_VER, L_STICK_HOR, SETTING2) if rcv.button_pressed(1): eyes = 100 if rcv.button_pressed(2): eyes = 50 if rcv.button_pressed(3): eyes = 0 ds.light_up_all(eyes) timer.rate = speed * 20 baseline = turn / 2 snake_body.update_motor_pwms(timer.time, delay_setting=delay_setting, baseline=baseline) raise SystemExit