Esempio n. 1
0
def lineUp(backBumper, gate):
	motors.backward(80)
	time.sleep(0.2)
	motors.turnRight(80, 180)
	atWall = False
	#motors.backwardsUnlimited() <--How go backwards???? ;)
	while not atWall:
		if bumper.leftBumped() and not bumper.rightBumped():
			omni.stopA()
		elif not bumper.leftBumped() and bumper.rightBumped():
			omni.stopB()
		elif bumper.leftBumped() and bumper.rightBumped():
			time.sleep(1)
			omni.stopMotors()
			atWall = True
	gate.openGate()
	time.sleep(2.5)
	gate.closeGate()
Esempio n. 2
0
import arduino, time, math, omni

l = 0.159
W = math.sqrt(0.084914 - 0.466 * l + l * l)
sina = 0.175 / W

if __name__ == "__main__":
    ard = arduino.Arduino()
    omni = omni.Omni(ard)
    ard.run()
    omni.turnLeft(80, 90)

    time.sleep(5)
    omni.stopMotors()
    print "lol"
    ard.stop()