interface.initialize() config = str(sys.argv[1]) Robot = Robot(interface, pid_config_file=config) bumpers = [None, None] speeds = [6, 6] zeros = [0, 0] Robot.set_speed(speeds) #Robot.start_debugging() while True: bumpers[0] = Robot.get_bumper("left") bumpers[1] = Robot.get_bumper("right") if bumpers[0] and bumpers[1]: Robot.stop() Robot.travel_straight(-3) Robot.rotate_right(30) Robot.set_speed([-x for x in speeds]) if not bumpers[0] and bumpers[1]: Robot.stop() Robot.rotate_left(30) Robot.set_speed([-x for x in speeds]) if bumpers[0] and not bumpers[1]: Robot.stop() Robot.rotate_right(30) Robot.set_speed([-x for x in speeds]) interface.terminate()
import threading import time from src.robot import Robot import brickpi #Initialize the interface interface = brickpi.Interface() interface.initialize() Robot = Robot(interface, pid_config_file="paper_config.json") for i in range(4): time.sleep(1) Robot.travel_straight(40) time.sleep(1) Robot.rotate_left(90) interface.terminate()