Explore.py

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 
 """

#connect to the robot using port /dev/rfcomm1
initialize( "/dev/rfcomm1")

#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()