import robot.compass as compass
import robot.motors as motors
import robot
import time
try:
compass.wake()
compass.setHighSpeedDataRate()
compass.calibrate(10)
print("Samlar data...")
motors.left(100)
with open("data.csv", "w") as f:
while True:
data = compass.readAxisData()
print("{},{}".format(data[0], data[1]), file=f)
time.sleep(1/220)
except:
motors.stop()
compass.sleep()
robot.clean()
def avsluta():
print("Batteriet är s**t!")
robot.clean()
robot.halt()
def avsluta():
print("Batteriet är s**t!")
robot.clean()
robot.halt()
motors.forward()
if time.time() - t >= 0.5:
if abs(compass.angleDifference(compass.getHeading(),
last)) >= math.radians(15):
distance.stop_measuring()
motors.stop()
done = True
logger.join()
a = compass.getHeading()
compass.calibrate(3)
done = False
logger = threading.Thread(target=supermagiskt)
logger.start()
robot.turn_to(a, math.radians(20))
time.sleep(1)
distance.start_measuring(count)
motors.forward()
t = time.time()
last = compass.getHeading()
time.sleep(0.1)
except KeyboardInterrupt:
pass
finally:
done = True
distance.stop_measuring()
motors.stop()
logger.join()
maplogger.close()
robot.clean()
