def turn_left_by_degree(angle, speed = 40, index = 1):
global rocky_stop_flag
if (not type_check(angle, int, float)) or (not type_check(speed, int, float)):
return
if angle < 0:
turn_right_by_degree(-angle, speed)
return
speed = math.fabs(speed)
angle_a = 50
now_angle = motion_sensor_o.get_attitude(2)
turn_angle = angle * math.cos(angle_a / 180 * 3.1415926)
dis_angle = now_angle + turn_angle
rocky_stop_flag = False
while True:
delt = motion_sensor_o.get_attitude(2) - dis_angle
if delt <= -5:
drive(-speed, speed)
if delt > -5 and delt < -2:
drive(-speed * 0.5, speed * 0.5)
elif delt > -1:
break
if rocky_stop_flag:
rocky_stop_flag = False
break
drive(0, 0)
def get_yaw(self):
ret = motion_sensor_o.get_attitude(YAW_ID)
while ret < 0:
ret = ret + 360
while ret > 360:
ret = ret % 360
return round(int(ret))
def get_pitch(self):
ret = motion_sensor_o.get_attitude(PITCH_ID)
return round(int(ret))
def get_roll(self):
ret = motion_sensor_o.get_attitude(ROLL_ID)
return round(int(ret))