interface.initialize()
config = str(sys.argv[1])
Robot = Robot(interface, pid_config_file=config)
bumpers = [None, None]
speeds = [6, 6]
zeros = [0, 0]
Robot.set_speed(speeds)
#Robot.start_debugging()
while True:
bumpers[0] = Robot.get_bumper("left")
bumpers[1] = Robot.get_bumper("right")
if bumpers[0] and bumpers[1]:
Robot.stop()
Robot.travel_straight(-3)
Robot.rotate_right(30)
Robot.set_speed([-x for x in speeds])
if not bumpers[0] and bumpers[1]:
Robot.stop()
Robot.rotate_left(30)
Robot.set_speed([-x for x in speeds])
if bumpers[0] and not bumpers[1]:
Robot.stop()
Robot.rotate_right(30)
Robot.set_speed([-x for x in speeds])
interface.terminate()
import threading
import time
from src.robot import Robot
import brickpi
#Initialize the interface
interface = brickpi.Interface()
interface.initialize()
Robot = Robot(interface, pid_config_file="paper_config.json")
for i in range(4):
time.sleep(1)
Robot.travel_straight(40)
time.sleep(1)
Robot.rotate_left(90)
interface.terminate()
