Create repository for the folkrace competition.

README.md

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+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.

folkrace.py

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+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        

sensortest.py

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+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)