Exemplo n.º 1
0
def supermagiskt():
    global done
    while not done:
        m = ultrasonic.get_middle()
        u = n + vector.from_polar(m, compass.getHeading())

        l = ultrasonic.get_left()
        v = n + vector.from_polar(l, compass.getHeading() + math.radians(30))

        r = ultrasonic.get_right()
        w = n + vector.from_polar(r, compass.getHeading() - math.radians(30))

        data = []
        if m <= 300 and m >= 15:
            data.append([u.x, u.y])
        if l <= 300 and l >= 15:
            data.append([v.x, v.y])
        if r <= 300 and l >= 15:
            data.append([w.x, w.y])

        if len(data) == 0:
            maplogger.log(position=[[n.x, n.y]], heading=compass.getHeading())
        else:
            maplogger.log(position=[[n.x, n.y]], heading=compass.getHeading(), walls=data)
        time.sleep(0.2)
Exemplo n.º 2
0
def supermagiskt():
    global done
    while not done:
        m = ultrasonic.get_middle()
        u = n + vector.from_polar(m, compass.getHeading())

        l = ultrasonic.get_left()
        v = n + vector.from_polar(l, compass.getHeading() + math.radians(30))

        r = ultrasonic.get_right()
        w = n + vector.from_polar(r, compass.getHeading() - math.radians(30))

        data = []
        if m <= 300 and m >= 15:
            data.append([u.x, u.y])
        if l <= 300 and l >= 15:
            data.append([v.x, v.y])
        if r <= 300 and l >= 15:
            data.append([w.x, w.y])

        if len(data) == 0:
            maplogger.log(position=[[n.x, n.y]], heading=compass.getHeading())
        else:
            maplogger.log(position=[[n.x, n.y]],
                          heading=compass.getHeading(),
                          walls=data)
        time.sleep(0.2)
Exemplo n.º 3
0
def count():
    global n
    n += vector.from_polar(distance.HALF_CIRCUMFERENCE, compass.getHeading())
Exemplo n.º 4
0
def count():
    global n
    n += vector.from_polar(distance.HALF_CIRCUMFERENCE, compass.getHeading())