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)
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)
def count():
global n
n += vector.from_polar(distance.HALF_CIRCUMFERENCE, compass.getHeading())
def count():
global n
n += vector.from_polar(distance.HALF_CIRCUMFERENCE, compass.getHeading())
