Method drive_cm

Software/Python/easygopigo3.py:304–341

Move the `GoPiGo3`_ forward / backward for ``dist`` amount of centimeters. | For moving the `GoPiGo3`_ robot forward, the ``dist`` parameter has to be *positive*. | For moving the `GoPiGo3`_ robot backward, the ``dist`` parameter has to be *negative*. :param float

(self, dist, blocking=True)

                           self.NO_LIMIT_SPEED)

    def drive_cm(self, dist, blocking=True):
        """
        Move the `GoPiGo3`_ forward / backward for ``dist`` amount of centimeters.

        | For moving the `GoPiGo3`_ robot forward, the ``dist`` parameter has to be *positive*.
        | For moving the `GoPiGo3`_ robot backward, the ``dist`` parameter has to be *negative*.

        :param float dist: The distance in ``cm`` the `GoPiGo3`_ has to move.
        :param boolean blocking = True: Set it as a blocking or non-blocking method.

        ``blocking`` parameter can take the following values:

             * ``True`` so that the method will wait for the `GoPiGo3`_ robot to finish moving.
             * ``False`` so that the method will exit immediately while the `GoPiGo3`_ robot will continue moving.

        """
        # dist is in cm
        # if dist is negative, this becomes a backward move

        dist_mm = dist * 10

        # the number of degrees each wheel needs to turn
        WheelTurnDegrees = ((dist_mm / self.WHEEL_CIRCUMFERENCE) * 360)

        # get the starting position of each motor
        StartPositionLeft = self.get_motor_encoder(self.MOTOR_LEFT)
        StartPositionRight = self.get_motor_encoder(self.MOTOR_RIGHT)

        self.set_motor_position(self.MOTOR_LEFT,
                                (StartPositionLeft + WheelTurnDegrees))
        self.set_motor_position(self.MOTOR_RIGHT,
                                (StartPositionRight + WheelTurnDegrees))

        if blocking:
            while self.target_reached(
                    StartPositionLeft + WheelTurnDegrees,
                    StartPositionRight + WheelTurnDegrees) is False:
                time.sleep(0.1)

    def drive_inches(self, dist, blocking=True):
        """