Update code.py

folkrace.py

@@ -1,126 +0,0 @@
-import time
-import board
-import adafruit_hcsr04
-from adafruit_motorkit import MotorKit
-
-# Set the motors
-kit = MotorKit()
-m1 = kit.motor1
-m2 = kit.motor2
-m3 = kit.motor3
-m4 = kit.motor4
-
-# Set the sensor pins
-front = adafruit_hcsr04.HCSR04(trigger_pin=board.D12, echo_pin=board.D13)
-right = adafruit_hcsr04.HCSR04(trigger_pin=board.D10, echo_pin=board.D11)
-left = adafruit_hcsr04.HCSR04(trigger_pin=board.D6, echo_pin=board.D9)
-
-speed = 0.6
-
-def forward():
-    m1.throttle = speed
-    m2.throttle = speed
-    m3.throttle = speed
-    m4.throttle = speed
-
-def backward():
-    m1.throttle = -speed
-    m2.throttle = -speed
-    m3.throttle = -speed
-    m4.throttle = -speed
-
-def stleft():
-    m1.throttle = -speed
-    m2.throttle = speed
-    m3.throttle = speed
-    m4.throttle = -speed
-
-def stright():
-    m1.throttle = speed
-    m2.throttle = -speed
-    m3.throttle = -speed
-    m4.throttle = speed
-
-def dgright():
-    m1.throttle =speed
-    m2.throttle = 0
-    m3.throttle = 0
-    m4.throttle =speed
-
-def dgleft():
-    m1.throttle = 0
-    m2.throttle =speed
-    m3.throttle =speed
-    m4.throttle = 0
-
-def turnright():
-    m1.throttle = speed
-    m2.throttle = speed
-    m3.throttle = speed
-    m4.throttle = 0
-
-def turnleft():
-    m1.throttle = speed
-    m2.throttle = speed
-    m3.throttle = 0
-    m4.throttle = speed
-
-def rotright():
-    m1.throttle = speed
-    m2.throttle = - speed
-    m3.throttle = 0
-    m4.throttle = 0
-
-def rotleft():
-    m1.throttle = - speed
-    m2.throttle = speed
-    m3.throttle = 0
-    m4.throttle = 0
-
-while True:
-    print("F=", f"{front.distance:.2f}", "R=", f"{right.distance:.2f}", "L=", f"{left.distance:.2f}")
-    try:
-        if front.distance <= 35: # 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 front.distance < 10:
-            backward()
-            time.sleep(0.7)
-            if left.distance > right.distance: # Diagonally left
-                rotleft()
-                time.sleep(0.5)
-            if right.distance > left.distance: # Diagonally right
-                rotright()
-                time.sleep(0.5)
-
-        if left.distance < 50: # Strafe right
-            turnright()
-            time.sleep(0.4)
-        if right.distance < 50: # Strafe left
-            turnleft()
-            time.sleep(0.4)
-
-        if left.distance < 15: # Strafe right
-            #turnright()
-            dgright()
-            time.sleep(0.5)
-            rotright()
-            time.sleep(0.4)
-        if right.distance < 15: # Strafe left
-            #turnleft()
-            dgleft()
-            time.sleep(0.5)
-            rotleft()
-            time.sleep(0.4)
-
-
-        else:
-            forward()
-
-    except RuntimeError:
-        pass