from robot.controller import BotController
import config
import time
if __name__ == '__main__':
SPEED = 40.0
ctrl = BotController(config)
ctrl.start()
torque = 0
data = []
for _ in range(300):
time.sleep(0.01)
ctrl.on_timer()
data.append((ctrl.timer, ctrl.actual_speed[0], ctrl.actual_speed[1],
ctrl.ticks[0], ctrl.ticks[1], ctrl._left.torque,
ctrl._right.torque, torque))
if _ == 50:
torque = SPEED
ctrl.run(SPEED, SPEED)
if _ == 150:
torque = -SPEED
ctrl.run(-SPEED, -SPEED)
if _ == 250:
def __init__(self, config):
self._bot = BotController(config)
self._ticks_origin_left = 0
self._ticks_origin_right = 0
self._ir_calibration = config.IR_CALIBRATION