Merge pull request #6 from icns-distributed-cloud/pi

round robin for smooth rotating movement
icns-distributed-cloud · Oct 15, 2021 · 07888ec · 07888ec
2 parents d6ee0c1 + 9f25719
commit 07888ec
Showing 1 changed file with 33 additions and 4 deletions.
diff --git a/aigo_serial/src/aigo_serial.py b/aigo_serial/src/aigo_serial.py
@@ -20,13 +20,42 @@ def calculate_pose():
     global right_vel
     #in STM32, MOTOR_SPEED = OUTPUT * 15 (MOTOR_SPEED < 9000)
     #turn right
+    mode = 0
     if(left > right+50):
-        left_vel = 600
-        right_vel = -600
+        if (mode = 0):
+            left_vel = 600
+            right_vel = -600
+            mode = 1
+        elif (mode = 1):
+            left_vel = 200
+            right_vel = 200
+            mode = 2
+        elif (mode = 2):
+            left_vel = 600
+            right_vel = -600
+            mode = 3
+        elif (mode = 3):
+            left_vel = -200
+            right_vel = -200
+            mode = 0
     #turn left
     elif(left+50 < right):
-        left_vel = -600
-        right_vel = 600
+        if (mode = 0):
+            left_vel = -600
+            right_vel = 600
+            mode = 1
+        elif (mode = 1):
+            left_vel = 200
+            right_vel = 200
+            mode = 2
+        elif (mode = 2):
+            left_vel = -600
+            right_vel = 600
+            mode = 3
+        elif (mode = 3):
+            left_vel = -200
+            right_vel = -200
+            mode = 0
     elif(left > 0 and right > 0):
         left_vel = 300
         right_vel = 300