Difference between revisions of "Explore.py"

From IPRE Wiki
Jump to: navigation, search
 
(4 intermediate revisions by the same user not shown)
Line 1: Line 1:
 
  <nowiki>
 
  <nowiki>
from myro import *;
+
from myro import *
  
 
"""
 
"""
Line 10: Line 10:
 
  """
 
  """
  
initialize( "/dev/rfcomm1")
+
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():  
+
    if getStall():  
                #we must have hit something so stop, backup a bit, turn, and continue
+
        #we must have hit something so stop, backup a bit, turn, and continue
                stop()
+
        stop()
                backward( 0.4, 1.0 )
+
        backward( 0.4, 1.0 )
                turnLeft( 0.5, 0.75 )
+
        turnLeft( 0.5, 0.75 )
                forward( 0.7 )
+
        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()