From 28f7162043ed6f36c913695b9ef1b92324be7a7c Mon Sep 17 00:00:00 2001 From: Edvin Date: Thu, 15 May 2025 10:42:55 +0200 Subject: Changed angle polarity for backwards adjustment and added reverse/forward on obstruction --- main.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/main.py b/main.py index 0968f67..02fb728 100755 --- a/main.py +++ b/main.py @@ -44,13 +44,13 @@ def adjustAngle(adiff, f, b): elif b == True: print("Going backward") if adiff < 0: - adiff -= 180 + adiff += 180 print(f"Adjusting to the right {adiff}") NANO.write(b"Right\n") sleep(abs(adiff) / 90) NANO.write(b"Stop\n") elif adiff > 0: - adiff += 180 + adiff -= 180 print(f"Adjusting to the left {adiff}") NANO.write(b"Left\n") sleep(abs(adiff) / 90) @@ -304,11 +304,17 @@ if bto.find("Connected") != -1: forward = False if backward == False: NANO.write(b"Stop\n") + NANO.write(b"Backward\n") + sleep(0.5) + NANO.write(b"Stop\n") if ((a > 155 and a < 165) or (a > 195 and a < 205)) and (d > 0 and d < 150): backward = False if forward == False: NANO.write(b"Stop\n") + NANO.write(b"Forward\n") + sleep(0.5) + NANO.write(b"Stop\n") if forward: NANO.write(b"Forward\n") -- cgit v1.2.3