Examples in order from XRP_MicroPython/Examples/drive_examples.py
straight motion:
def drive_straight(drive_time: float = 1): # default parameter with default of 1 second
drivetrain.set_effort(0.8, 0.8) # sets same effort to both wheels to go straight
time.sleep(drive_time)
drivetrain.stop()
circular motion:
def arc_turn(turn_time: float = 1):
drivetrain.set_effort(0.5, 0.8) # sets diff effort to both wheels for circular motion
time.sleep(turn_time)
drivetrain.stop()
turn:
def swing_turn(turn_time: float = 1):
drivetrain.set_effort(0, 0.8) # sets effort to only wheel so the robot turns in one place
time.sleep(turn_time)
drivetrain.stop()
circle:
def circle():
while True:
drivetrain.set_effort(0.8, 1) # applies arc turn infinitely so it moves in a circle
square:
def square(sidelength):
for sides in range(4): # iterates through loop 4 times
drivetrain.straight(sidelength, 0.8) # draws one side
drivetrain.turn(90) # turns 90 degrees
# could also use polygon(sidelength, 4)
polygon
def polygon(side_length, number_of_sides): # basically math of any polyon
for s in range(number_of_sides):
drivetrain.straight(side_length)
drivetrain.turn(360/number_of_sides)
log of data from the ultrasonic sensor
def ultrasonic_test():
while True:
print(rangefinder.distance()) # continuously prints distance reported from sensor
time.sleep(0.1)
drive till reaching wall
def drive_till_close(target_distance: float = 10.0):
speed = 0.6
while rangefinder.distance() > target_distance:
drivetrain.set_effort(speed, speed) # just drives forward till target distance reached
time.sleep(0.01)
drivetrain.set_effort(0, 0)
maintain same distance from wall
def standoff(target_distance: float = 10.0):
KP = 0.2
while True:
distance = rangefinder.distance()
error = distance - target_distance
drivetrain.set_effort(error * KP, error*KP) # proportional control to adjust for error
time.sleep(0.01)
