Difference between revisions of "Explore.py"
From IPRE Wiki
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<nowiki> | <nowiki> | ||
| − | from myro import * | + | from myro import * |
""" | """ | ||
This program causes the robot to "explore" the room. The robot starts moving forward, and when it | This program causes the robot to "explore" the room. The robot starts moving forward, and when it | ||
hits a wall (i.e., it stalls) it stops, backs up a bit, turns a bit, then continues moving forward. | hits a wall (i.e., it stalls) it stops, backs up a bit, turns a bit, then continues moving forward. | ||
| − | The program stops when | + | The program stops when 1 minute is up. |
@author Douglas Harms | @author Douglas Harms | ||
""" | """ | ||
| − | initialize( | + | initialize( ) |
#start moving forward | #start moving forward | ||
| − | forward( 0.7 ) | + | forward( 0.7 ) |
| − | # keep executing for 1 minute | + | # keep executing for 1 minute |
| − | startTime = currentTime() | + | startTime = currentTime() |
| − | endTime = startTime + 60*1000 | + | endTime = startTime + 60*1000 |
while currentTimeMillis() < endTime: | while currentTimeMillis() < endTime: | ||
| − | + | if getStall(): | |
| − | + | #we must have hit something so stop, backup a bit, turn, and continue | |
| − | + | stop() | |
| − | + | backward( 0.4, 1.0 ) | |
| − | + | turnLeft( 0.5, 0.75 ) | |
| − | + | forward( 0.7 ) | |
#stop the robot and close | #stop the robot and close | ||
stop() | stop() | ||
</nowiki> | </nowiki> | ||
Latest revision as of 18:53, 7 March 2011
from myro import *
"""
This program causes the robot to "explore" the room. The robot starts moving forward, and when it
hits a wall (i.e., it stalls) it stops, backs up a bit, turns a bit, then continues moving forward.
The program stops when 1 minute is up.
@author Douglas Harms
"""
initialize( )
#start moving forward
forward( 0.7 )
# keep executing for 1 minute
startTime = currentTime()
endTime = startTime + 60*1000
while currentTimeMillis() < endTime:
if getStall():
#we must have hit something so stop, backup a bit, turn, and continue
stop()
backward( 0.4, 1.0 )
turnLeft( 0.5, 0.75 )
forward( 0.7 )
#stop the robot and close
stop()
