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<div class="section" id="beispiele">
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<span id="other-usage"></span><h1>Beispiele<a class="headerlink" href="#beispiele" title="Permalink to this heading">¶</a></h1>
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<div class="section" id="vorwarts-und-ruckwarts-fahren">
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<h2>Vorwärts und rückwärts fahren<a class="headerlink" href="#vorwarts-und-ruckwarts-fahren" title="Permalink to this heading">¶</a></h2>
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
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<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="o">*</span>
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<span class="k">def</span> <span class="nf">forward</span><span class="p">():</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">30</span><span class="p">)</span>
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<span class="k">def</span> <span class="nf">backward</span><span class="p">():</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">30</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">)</span>
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<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"hallo ich bin ein roboter beep buup"</span><span class="p">)</span>
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<span class="n">forward</span><span class="p">()</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
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<span class="n">backward</span><span class="p">()</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
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<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s1">'__main__'</span><span class="p">:</span>
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<span class="n">main</span><span class="p">()</span>
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</pre></div>
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</div>
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</div>
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<div class="section" id="eine-linie-verfolgen">
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<h2>Eine Linie verfolgen<a class="headerlink" href="#eine-linie-verfolgen" title="Permalink to this heading">¶</a></h2>
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
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<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
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<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
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<span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
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<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">850</span>
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<span class="n">DRIVE_SPEED</span> <span class="o">=</span> <span class="mi">35</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">enable</span><span class="p">()</span>
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<span class="k">def</span> <span class="nf">drive</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="n">right</span><span class="p">):</span>
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<span class="n">right</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_power</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="n">right</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="n">left</span><span class="p">))</span>
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<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"</span><span class="si">{</span><span class="n">left</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">right</span><span class="si">}</span><span class="s2">"</span><span class="p">)</span>
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<span class="k">def</span> <span class="nf">follow</span><span class="p">():</span>
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<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
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<span class="n">sensors</span> <span class="o">=</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read_all</span><span class="p">()</span>
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<span class="k">if</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="c1"># turn left</span>
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<span class="n">drive</span><span class="p">(</span><span class="o">-</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="k">elif</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="c1"># turn right</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="o">-</span><span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="k">else</span><span class="p">:</span>
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<span class="c1"># straight</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="k">if</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">></span> <span class="n">COLOR_BREAK</span> <span class="ow">and</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="k">break</span>
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<span class="n">drive</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
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<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
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<span class="n">follow</span><span class="p">()</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span>
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<span class="n">follow</span><span class="p">()</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span>
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<span class="n">follow</span><span class="p">()</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span>
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<span class="n">follow</span><span class="p">()</span>
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<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">"__main__"</span><span class="p">:</span>
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<span class="n">main</span><span class="p">()</span>
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</pre></div>
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</div>
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</div>
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<div class="section" id="funktionalitat-des-roboters-uberprufen">
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<h2>Funktionalität des Roboters überprüfen<a class="headerlink" href="#funktionalitat-des-roboters-uberprufen" title="Permalink to this heading">¶</a></h2>
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
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<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
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<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
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<span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
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<span class="k">def</span> <span class="nf">testIR</span><span class="p">():</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Enabling Infrared Sensor"</span><span class="p">)</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">enable</span><span class="p">()</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Writing sensor values..."</span><span class="p">)</span>
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<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
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<span class="nb">print</span><span class="p">(</span><span class="n">IRSensor</span><span class="o">.</span><span class="n">read_all</span><span class="p">())</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Disabling Infrared Sensor"</span><span class="p">)</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">disable</span><span class="p">()</span>
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<span class="k">def</span> <span class="nf">testEncoders</span><span class="p">():</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_pulse_width</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">50</span><span class="p">))</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Writing encoder positions..."</span><span class="p">)</span>
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<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
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<span class="nb">print</span><span class="p">(</span><span class="n">Encoder</span><span class="o">.</span><span class="n">read_all_positions</span><span class="p">())</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Writing encoder velocities..."</span><span class="p">)</span>
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<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
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<span class="nb">print</span><span class="p">(</span><span class="n">Encoder</span><span class="o">.</span><span class="n">read_all_velocities</span><span class="p">())</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_pulse_width</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">0</span><span class="p">))</span>
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<span class="k">def</span> <span class="nf">testMotors</span><span class="p">():</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Setting pulse_with"</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_pulse_width</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">50</span><span class="p">))</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Setting power"</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_power</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">50</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">50</span><span class="p">))</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Setting pulse_with"</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_speed</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="mi">5</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">5</span><span class="p">))</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">3</span><span class="p">)</span>
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<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">100</span><span class="p">):</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_power</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="n">i</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="n">i</span><span class="p">))</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.1</span><span class="p">)</span>
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<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">"__main__"</span><span class="p">:</span>
|
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<span class="nb">print</span><span class="p">(</span><span class="s2">"Make sure robot is turned on it's back!"</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">5</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">()</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"----------------- Testing Infrared Sensor -----------------"</span><span class="p">)</span>
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<span class="n">testIR</span><span class="p">()</span>
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<span class="nb">print</span><span class="p">()</span>
|
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<span class="nb">print</span><span class="p">(</span><span class="s2">"----------------- Testing Encoder -----------------"</span><span class="p">)</span>
|
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<span class="n">testEncoders</span><span class="p">()</span>
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<span class="nb">print</span><span class="p">()</span>
|
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<span class="nb">print</span><span class="p">(</span><span class="s2">"----------------- Testing Motors -----------------"</span><span class="p">)</span>
|
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<span class="n">testMotors</span><span class="p">()</span>
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</pre></div>
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