change speeds

folkrace.py

@@ -16,52 +16,52 @@ right = adafruit_hcsr04.HCSR04(trigger_pin=board.D10, echo_pin=board.D11)
 left = adafruit_hcsr04.HCSR04(trigger_pin=board.D6, echo_pin=board.D9)
 
 def forward():
-    m1.throttle = 1
-    m2.throttle = 1
-    m3.throttle = 1
-    m4.throttle = 1
+    m1.throttle = 0.5
+    m2.throttle = 0.5
+    m3.throttle = 0.5
+    m4.throttle = 0.5
 
 def backward():
-    m1.throttle = -1
-    m2.throttle = -1
-    m3.throttle = -1
-    m4.throttle = -1
+    m1.throttle = -0.5
+    m2.throttle = -0.5
+    m3.throttle = -0.5
+    m4.throttle = -0.5
 
 def stleft():
-    m1.throttle = -1
-    m2.throttle = 1
-    m3.throttle = 1
-    m4.throttle = -1
+    m1.throttle = -0.5
+    m2.throttle = 0.5
+    m3.throttle = 0.5
+    m4.throttle = -0.5
     
 def stright():
-    m1.throttle = 1
-    m2.throttle = -1
-    m3.throttle = -1
-    m4.throttle = 1
+    m1.throttle = 0.5
+    m2.throttle = -0.5
+    m3.throttle = -0.5
+    m4.throttle = 0.5
 
 def dgright():
-    m1.throttle = 1
+    m1.throttle =0.5
     m2.throttle = 0
     m3.throttle = 0
-    m4.throttle = 1
+    m4.throttle =0.5
 
 def dgleft():
     m1.throttle = 0
-    m2.throttle = 1
-    m3.throttle = 1
+    m2.throttle =0.5
+    m3.throttle =0.5
     m4.throttle = 0
     
 def turnright():
-    m1.throttle = 1
-    m2.throttle = 1
-    m3.throttle = 1
+    m1.throttle = 0.5
+    m2.throttle = 0.5
+    m3.throttle = 0.5
     m4.throttle = 0
     
 def turnleft():
-    m1.throttle = 1
-    m2.throttle = 1
+    m1.throttle = 0.5
+    m2.throttle = 0.5
     m3.throttle = 0
-    m4.throttle = 1
+    m4.throttle = 0.5
 
 while True:
     print("F=", f"{front.distance:.2f}", "R=", f"{right.distance:.2f}", "L=", f"{left.distance:.2f}")
@@ -69,16 +69,20 @@ while True:
         if front.distance <= 20: # What to do when there is an obstacle ahead
             if left.distance > right.distance: # Diagonally left
                 dgleft()
+                time.sleep(0.8)
             if right.distance > left.distance: # Diagonally right
                 dgright()
+                time.sleep(0.8)
         if left.distance < 30: # Strafe right
             turnright()
             #stright()
+            time.sleep(0.5)
         if right.distance < 30: # Strafe left
             turnleft()
             #stleft()
+            time.sleep(0.5)
         else:
             forward()
 
     except RuntimeError:
-        pass        
+        pass