#### Intialize variables position = robot.getPosition() speed = 0.25 heading = 0 nextPoint = 0 dropOut = 0 lookAheadDistance = 0.85 while (goal.notGoal(position, nextPoint, path)): ### get current status (position, heading) position = robot.getPosition() heading = converter.convertToDegree(robot.getHeading()) ### get next point nextPoint = pathHandler.getNextPathPoint(position, path, nextPoint, lookAheadDistance) print(nextPoint) ### find direction to path directionToPoint = navigator.getDirection(position, path, nextPoint) turnRate = navigator.getTurnRate(heading, directionToPoint) ### set motion robot.setMotion(speed, turnRate) sleep(0.35) robot.setMotion(0, 0) print('Geeeeeehaaaaaaa')