def move_straight(max_distance, speed_mm_s=DEFAULT_SPEED):
left_motor.reset_angle(0)
right_motor.reset_angle(0)
log_string('Move stratight at speed ' + str(speed_mm_s) + ' dist ' +
str(max_distance))
duration = abs(int(1000 * max_distance / speed_mm_s))
robot.drive_time(speed_mm_s, 0, duration)
robot.stop(stop_type=Stop.BRAKE)
def turn(angle, speed_mm_s=DEFAULT_SPEED):
if angle > 0: # right turns are a bit under-steered
angle = int(1.1 * angle)
else:
angle = int(angle / 1)
robot.drive_time(0, angle, 1000)
robot.stop(stop_type=Stop.BRAKE)
def bus_mis_2_to_home():
robot.drive_time(150, 0, 2000)
def bus_mis_1_to_mis_2():
robot.drive_time(150, 0, 2000)
def bus_base_to_mis_1():
robot.drive_time(150, 0, 2000)
def turn_arc(distance,angle, speed_mm_s):
duration_ms = 1000* abs(distance / speed_mm_s)
steering_speed = (angle / duration_ms) * 1000
robot.drive_time(speed_mm_s, steering_speed, duration_ms)
def turn(angle):
robot.drive_time(0, angle, 1000)
def mis_1_traffic():
robot.drive_time(150, 0, 2000)
def turn_arc(distance, angle):
robot.drive_time(distance, angle, 1000)