def right(duration=1.0, verbose=True):
"""
Drive the car forward and right for `duration` seconds.
"""
from car import motors
if duration > 5.0:
print(
"Error: The duration exceeds 5 seconds; will reset to 5 seconds.")
duration = 5.0
if verbose:
print("Driving right for {} seconds.".format(duration))
if duration <= 0.0:
return
motors.drive(-45.0, motors.CAR_THROTTLE_FORWARD_SAFE_SPEED, duration)
def right(sec=None, deg=None, verbose=True):
"""
Drive the car forwad and right for `sec` seconds or `deg` degrees (passing in both
will raise an error). If neither is passed in, the car will drive for 1 second.
"""
from car import motors
if sec is not None and deg is not None:
_ctx_print_all(
"Error: Please specify duration (sec) OR degrees (deg) - not both."
)
return
if sec is None and deg is None:
sec = 1.0
if sec is not None:
if sec > 5.0:
_ctx_print_all(
"Error: The duration (sec) exceeds 5 seconds; will reset to 5 seconds."
)
sec = 5.0
if sec <= 0.0:
return
if verbose:
_ctx_print_all("Driving right for {} seconds.".format(sec))
if deg is not None:
if deg > 360.0:
_ctx_print_all(
"Error: The degrees (deg) exceeds 360; will reset to 360.")
deg = 360.0
if deg <= 0.0:
return
if verbose:
_ctx_print_all("Driving right for {} degrees.".format(deg))
motors.drive(-45.0, motors.safe_forward_throttle(), sec, deg)
def _demo_forward_reverse_no_pid(duration=1.0):
m.drive(0.0, m.CAR_THROTTLE_FORWARD_SAFE_SPEED, duration)
m.drive(0.0, m.CAR_THROTTLE_REVERSE_SAFE_SPEED, duration)