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Ch-8 cleanup

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This commit is contained in:
Danny Staple
2022-03-20 22:28:27 +00:00
parent 36240090bf
commit 530f67856d
4 changed files with 89 additions and 74 deletions
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ch-8/3-avoid/varying_wall_avoid.py
+29 -24
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@@ -1,4 +1,3 @@
import robot
import time
@@ -9,32 +8,38 @@ robot.right_distance.start_ranging()
speed = 0.9
def speed_from_distance(distance):
limited_distance = min(distance, 30) * speed
return limited_distance / 30
limited_distance = min(distance, 30) * speed
return limited_distance / 30
try:
robot.set_left(speed)
robot.set_right(speed)
while True:
# do we have data:
if robot.left_distance.data_ready and robot.right_distance.data_ready:
left_dist = robot.left_distance.distance
right_dist = robot.right_distance.distance
l_speed = speed_from_distance(robot.right_distance.distance)
r_speed = speed_from_distance(robot.left_distance.distance)
print("Left: {} cm R Sp: {}, Right: {} cm L Sp: {}".format(left_dist, r_speed, right_dist, l_speed))
robot.set_left(l_speed)
robot.set_right(r_speed)
robot.set_left(speed)
robot.set_right(speed)
robot.left_distance.clear_interrupt()
robot.right_distance.clear_interrupt()
time.sleep(0.1)
while True:
# do we have data:
if robot.left_distance.data_ready and robot.right_distance.data_ready:
left_dist = robot.left_distance.distance
right_dist = robot.right_distance.distance
l_speed = speed_from_distance(robot.right_distance.distance)
r_speed = speed_from_distance(robot.left_distance.distance)
print(
"Left: {} cm R Sp: {}, Right: {} cm L Sp: {}".format(
left_dist, r_speed, right_dist, l_speed
)
)
robot.set_left(l_speed)
robot.set_right(r_speed)
robot.left_distance.clear_interrupt()
robot.right_distance.clear_interrupt()
time.sleep(0.1)
finally:
robot.stop()
robot.left_distance.clear_interrupt()
robot.right_distance.clear_interrupt()
robot.left_distance.stop_ranging()
robot.right_distance.stop_ranging()
robot.stop()
robot.left_distance.clear_interrupt()
robot.right_distance.clear_interrupt()
robot.left_distance.stop_ranging()
robot.right_distance.stop_ranging()