return value class WallFollow: motorBias = 0 followDistance = 0.1 speedCoeff = 6 def __init__(self, robot, events): self.robot = robot self.events = events def start(self): self.events.add(EventType.SENSOR_ULTRASOUND, self.onUltrasound) def deltaFunction(self, d): return clamp(d*5, 0.6) def onUltrasound(self, params): self.motorBias = self.deltaFunction(params['distance'] - self.followDistance) print self.motorBias robot.drive(self.speedCoeff * (1 - self.motorBias)/2, self.speedCoeff * (1 + self.motorBias)/2) if __name__ == '__main__': robot = Robot() robot.setPID(150, 0, 0) wallFollow = WallFollow(robot, robot.events) wallFollow.start() robot.mainLoop()
