From f705faf83ea69439edacc78ef60fb167926f0bc6 Mon Sep 17 00:00:00 2001
From: George_Andreou <george@theo-andreou.org>
Date: Thu, 22 May 2025 01:50:23 +0300
Subject: [PATCH] Create repository for the folkrace competition.

---
 README.md     |  1 +
 folkrace.py   | 46 ++++++++++++++++++++++++++++++++++++++++++++++
 sensortest.py | 16 ++++++++++++++++
 3 files changed, 63 insertions(+)
 create mode 100644 README.md
 create mode 100644 folkrace.py
 create mode 100644 sensortest.py

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..be343fb
--- /dev/null
+++ b/README.md
@@ -0,0 +1 @@
+This is a repository for our robot in the folkrace competition of Robotex Cyprus. It uses a feather rp-2040 with a motor control featherwing as its brains as well as featuring meccanum wheels that will hopefully enable it to evade the obstacles better.
\ No newline at end of file
diff --git a/folkrace.py b/folkrace.py
new file mode 100644
index 0000000..3122be4
--- /dev/null
+++ b/folkrace.py
@@ -0,0 +1,46 @@
+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.D8, echo_pin=board.D9)
+
+def forward():
+    m1.throttle = 1
+    m2.throttle = 1
+    m3.throttle = 1
+    m4.throttle = 1
+
+def backward():
+    m1.throttle = -1
+    m2.throttle = -1
+    m3.throttle = -1
+    m4.throttle = -1
+
+while True:
+    print("F=", f"{front.distance:.2f}", "R=", f"{right.distance:.2f}", "L=", f"{left.distance:.2f}")
+    try:
+        if front.distance >= 20: # What to do when there is an obstacle ahead
+            if left.distance > right.distance: # Diagonally left
+                
+            if right.distance > left.distance: # Diagonally right
+                
+        if left.distance < 30: # Strafe right
+
+        if right.distance < 30: # Strafe left
+            
+        else:
+            forward()
+
+    except RuntimeError:
+        pass        
\ No newline at end of file
diff --git a/sensortest.py b/sensortest.py
new file mode 100644
index 0000000..82e8bbd
--- /dev/null
+++ b/sensortest.py
@@ -0,0 +1,16 @@
+import time
+import board
+import adafruit_hcsr04
+
+# 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.D8, echo_pin=board.D9)
+
+while True:
+    try:
+        print("F =", f"{front.distance:.2f}", "|", "L =", f"{left.distance:.2f}", "|", "R =", f"{right.distance:.2f}")
+
+    except RuntimeError:
+        print("Retrying!")
+        time.sleep(0.1)
\ No newline at end of file