Explore.py

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Revision as of 18:44, 7 March 2011 by Kjohara (Talk | contribs)

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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 a key is pressed or 1 minute is up, whichever occurs first.
  
  @author Douglas Harms 
 """

initialize( "/dev/rfcomm1")

#start moving forward
forward( 0.7 );
 
# keep executing for 1 minute or until a key is pressed
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()