From 48d9907b3939469a319c06de4fc4624dcc46ff6a Mon Sep 17 00:00:00 2001
From: George_Andreou <george@theo-andreou.org>
Date: Thu, 9 Jul 2026 00:37:19 +0300
Subject: [PATCH] Better commenting

---
 code.py | 30 ++++++++++++++++++------------
 1 file changed, 18 insertions(+), 12 deletions(-)

diff --git a/code.py b/code.py
index 1ba1de6..970cc54 100644
--- a/code.py
+++ b/code.py
@@ -29,6 +29,7 @@ def backward():
     m3.throttle = -speed
     m4.throttle = -speed
 
+# define strafing
 def stleft():
     m1.throttle = -speed
     m2.throttle = speed
@@ -41,6 +42,7 @@ def stright():
     m3.throttle = -speed
     m4.throttle = speed
 
+# define diagonal movement
 def dgright():
     m1.throttle =speed
     m2.throttle = 0
@@ -53,6 +55,7 @@ def dgleft():
     m3.throttle =speed
     m4.throttle = 0
 
+# define turning/steering
 def turnright():
     m1.throttle = speed
     m2.throttle = speed
@@ -65,6 +68,7 @@ def turnleft():
     m3.throttle = 0
     m4.throttle = speed
 
+#define rotating
 def rotright():
     m1.throttle = speed
     m2.throttle = - speed
@@ -77,10 +81,12 @@ def rotleft():
     m3.throttle = 0
     m4.throttle = 0
 
+# Main control loop
 while True:
-    print("F=", f"{front.distance:.2f}", "R=", f"{right.distance:.2f}", "L=", f"{left.distance:.2f}")
+    print("F=", f"{front.distance:.2f}", "R=", f"{right.distance:.2f}", "L=", f"{left.distance:.2f}") 
+    # The obstacle distance thresholds can be set however you want. I set them with the values I found to be optimal in folkrace
     try:
-        if front.distance <= 35: # What to do when there is an obstacle ahead
+        if front.distance <= 35: 
             if left.distance > right.distance: # Diagonally left
                 dgleft()
                 time.sleep(0.8)
@@ -88,38 +94,38 @@ while True:
                 dgright()
                 time.sleep(0.8)
 
-        if front.distance < 10:
+        if front.distance < 10: # Robot gets dangerously close to an obstacle or even hits it
+            # The robot will move backwards and rotare to the direction with the most space
             backward()
             time.sleep(0.7)
-            if left.distance > right.distance: # Diagonally left
+            if left.distance > right.distance:
                 rotleft()
                 time.sleep(0.5)
-            if right.distance > left.distance: # Diagonally right
+            if right.distance > left.distance:
                 rotright()
                 time.sleep(0.5)
 
-        if left.distance < 50: # Strafe right
+        if left.distance < 50: # Steer right
             turnright()
             time.sleep(0.4)
-        if right.distance < 50: # Strafe left
+        if right.distance < 50: # Steer left
             turnleft()
             time.sleep(0.4)
 
-        if left.distance < 15: # Strafe right
-            #turnright()
+            # When the robot's side gets dangerously close it moves diagonally and the rotates a bit to escape
+        if left.distance < 15:
             dgright()
             time.sleep(0.5)
             rotright()
             time.sleep(0.4)
-        if right.distance < 15: # Strafe left
-            #turnleft()
+        if right.distance < 15:
             dgleft()
             time.sleep(0.5)
             rotleft()
             time.sleep(0.4)
 
 
-        else:
+        else: # If no obstacle is seen, keep going forward
             forward()
 
     except RuntimeError: