CODEWITHSUNDEEP
pythonpybricks-micropython
unilarity
unilarity

Reputation: 1

logic errors in omnibot programming

current problem is that this bit of code is extremely buggy, could be logic errors but i'm not entirely sure, operating on pybricks orbit1 is movement given in directions 1 - 12

here's the code:

def orbit2():
    global current_angle, aligned, new_direction, movetoball
    values = ir_seeker.read(5)
    direction = values[1]
    ir_dis = values[0]
    while ir_dis >= 65: 
        aligned = False
        orbitdir = 2 if 0 < direction <= 6 else -2 #adjust values as needed after testing!!!
        new_direction = (direction + orbitdir) % 12
        values = ir_seeker.read(5)
        direction = values[1]
        ir_dis = values[0]
        print(str(new_direction))
        while not direction == 12:   
            current_angle = hub.imu.heading()   
            values = ir_seeker.read(5)
            direction = values[1]
            ir_dis = values[0]
            orbit1(new_direction, current_angle, score_speed) 
            wait(15) #adjust this as well
            print("orbiting in", direction)
            if direction == 12:
                while movetoball == False:
                   while not ir_dis >= 80: 
                        orbit1(direction, current_angle, 100)
                        direction = values[1]
                        ir_dis = values[0]
                    movetoball = True
        print("aligned to 12, now calculating angles") 
        aligned = True
        break

tried everything basically, robot either acted funny or got stuck in certain loops (could be deep nested loops i'm not sure) help is appreciated, thanks :)

Upvotes: 0

Views: 12

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