Now, all that remains for us to do is use the compass bearing to steer our robot to the desired angle.
Create the following compassDrive.py script:
#!/usr/bin/env python3 #compassDrive.py import XLoBorg3 as XLoBorg import rover_drive as drive import time MARGIN=10 #turn until within 10degs LEFT="l"; RIGHT="r"; DONE="#" def calDir(target, current, margin=MARGIN): target=target%360 current=current%360 delta=(target-current)%360 print("Target=%f Current=%f Delta=%f"%(target,current,delta)) if delta <= margin: CMD=DONE else: if delta>180: CMD=LEFT else: CMD=RIGHT return CMD def main(): myCompass=XLoBorg.compass() myBot=drive.motor() while(True): print("Enter target angle:") ANGLE=input() try: angleTarget=float(ANGLE) ...
