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kendmaclean / gears_pybricks

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robot.straight() - did not implement negative distance #7

Open fll-pigeons opened 4 years ago

fll-pigeons commented 4 years ago

robot.straight() with negative distance should travel that distance backwards;

e.g.:

distance = -1000 # millimetres
speed = 150 # mm/sec    

robot.reset() 
gyro_sensor.reset_angle(0)

PROPORTIONAL_GAIN = 1.1
if distance < 0: # move backwards
    while robot.distance() > distance:
        speed = -1 * robotSpeed        
        angle_correction = -1 * PROPORTIONAL_GAIN * gyro_sensor.angle()
        robot.drive(drive_speed=speed, turn_rate=angle_correction) 
        wait(10)
elif distance > 0: # move forwards             
    while robot.distance() < distance:
        angle_correction = -1 * PROPORTIONAL_GAIN * gyro_sensor.angle()
        robot.drive(drive_speed=robotSpeed, turn_rate=angle_correction) 
        wait(10)            
robot.stop()