def turn_left(degrees):
distance = degrees * 0.1876
while encoders.d_move()[0] < distance and encoders.d_move()[1] < distance:
ml.backward(0.555)
mr.forward(0.5)
sstop()
encoders.refresh()
def turn_right(degrees):
distance = (degrees+1) * 0.1876
while encoders.d_move()[0] < distance and encoders.d_move()[1] < distance:
ml.forward(0.6)
mr.backward(0.5)
sstop()
encoders.refresh()
def turn_left(degrees):
distance = degrees * 0.1876
while encoders.d_move()[0] < distance and encoders.d_move(
)[1] < distance:
ml.backward(0.555)
mr.forward(0.5)
sstop()
encoders.refresh()
def turn_right(degrees):
distance = (degrees + 1) * 0.1876
while encoders.d_move()[0] < distance and encoders.d_move(
)[1] < distance:
ml.forward(0.6)
mr.backward(0.5)
sstop()
encoders.refresh()
def down():
look_down()
if anomaly.check() == True:
while encoders.d_move()[0] <= lm and encoders.d_move()[1] <= lm:
forward()
sstop()
encoders.refresh()
return True
else:
return False
def down():
look_down()
if anomaly.check() == True:
while encoders.d_move()[0] <= lm and encoders.d_move()[1] <= lm:
forward()
sstop()
encoders.refresh()
return True
else:
return False
def down():
look_down()
if check() == True:
while d_move()[0] <= lm and d_move()[1] <= lm:
forward()
sstop()
refresh()
return True
else:
return False
def move_backward(distance):
while encoders.d_move()[0] <= distance and encoders.d_move(
)[1] <= distance:
backward()
sstop()
encoders.refresh()
def first_down():
look_down()
while encoders.d_move()[0] <= lm and encoders.d_move()[1] <= lm:
forward()
sstop()
encoders.refresh()
def turn_left():
while d_move()[0] < 11 and d_move()[1] < 11:
ml.backward()
mr.forward()
sstop()
refresh()
def right():
look_right()
while d_move()[0] <= 20 and d_move()[1] <= 20:
forward()
sstop()
refresh()
def first_right():
look_right()
while encoders.d_move()[0] <= lm and encoders.d_move()[1] <= lm:
forward()
sstop()
encoders.refresh()
def soft_right():
while encoders.d_move()[0] < 15:
ml.forward(0.555)
mr.stop()
sstop()
encoders.refresh()
def move_backward(distance):
while encoders.d_move()[0] <= distance and encoders.d_move()[1] <= distance:
backward()
sstop()
encoders.refresh()
def soft_left():
while d_move()[0] < 15:
ml.stop()
mr.forward(0.5)
sstop()
refresh()
def soft_right():
while d_move()[0] < 15:
ml.forward(0.555)
mr.stop()
sstop()
refresh()
def turn_right():
while d_move()[0] < rm and d_move()[1] < rm:
ml.forward(0.555)
mr.backward(0.5)
sstop()
refresh()
def soft_left():
while encoders.d_move()[0] < 15:
ml.stop()
mr.forward(0.5)
sstop()
encoders.refresh()
def soft_right():
while encoders.d_move()[0] < 15:
ml.forward(0.555)
mr.stop()
sstop()
encoders.refresh()
def turn_right():
while d_move()[0] <= 20 and d_move()[1] <= 20:
ml.forward()
mr.backward()
sstop()
refresh()
def soft_left():
while encoders.d_move()[0] < 15:
ml.stop()
mr.forward(0.5)
sstop()
encoders.refresh()
def down():
look_down()
while d_move()[0] <= 20 and d_move()[1] <= 20:
forward()
sstop()
refresh()
def turn_left():
while d_move()[0] < 11 and d_move()[1] < 11:
ml.backward()
mr.forward()
sstop()
refresh()
