head_motor.speed_setpoint = heading
scanning = False
rot = heading + head_motor.position
forward = (distance - 0.5) * 200
move.twist = [forward, rot]
else:
head_motor.run_mode = 'forever'
if head_motor.position > 145:
head_scan_direction = -1
elif head_motor.position < -145:
head_scan_direction = 1
head_motor.speed_setpoint = head_scan_direction * 15
scanning = True
move.stop()
head_motor.run = 1
if scanning != last_scanning:
leds.set_color('all', 'green' if scanning else 'red')
if not scanning:
sound.post_say('I see you!')
else:
sound.post_say('where are you?')
time.sleep(0.1)
finally:
head_motor.run_mode = 'position'
head_motor.position_mode = 'absolute'
head_motor.position_setpoint = 0
head_motor.run = 1
left_motor.run = 0
right_motor.run = 0
