1.5: Intermediate Driving Commands

Remember when you learned about forward()? Even though it set Zumi to drive at a set speed of 40 for one second in the current direction, you could also change these values. The function all listed below are all listed with their default parameters. If you call a function by name, such as right_u_turn(), Zumi will do the u-turn with the defined parameters. However, just like with forward(), you can change these to whatever values you would like.

right_u_turn(speed=30, step=4, delay=0.02)

• speed: the forward speed you want Zumi to drive at
• step: the angle step size as it goes from (0 – 180)
• delay: the delay between each angle step

left_u_turn(speed=30, step=4, delay=0.02)

• speed: the forward speed you want Zumi to drive at
• step: the angle step size as it goes from (0 – 180)
• delay: the delay between each angle step

circle(speed=30, step=2, direction=1, delay=0.02)

• speed: the forward speed you want Zumi to drive at
• step: the angle step size as it goes from (0 – 360)
• direction: -1 for clockwise , +1 for counterclockwise
• delay: the delay between each angle step

right_circle(speed=30, step=2)

• speed: the forward speed you want Zumi to drive at
• step: the angle step size as it goes from (0 – 360)

left_circle(speed=30, step=2)

• speed: the forward speed you want Zumi to drive at
• step: the angle step size as it goes from (0 – 360)

square(speed=40, seconds=1, direction=1)

• speed: the forward speed you want Zumi to drive at
• seconds: the duration Zumi will drive for each side
• direction: -1 for clockwise , +1 for counterclockwise

square_right(speed=40, seconds=1.0)

• speed: the forward speed you want Zumi to drive at
• seconds: the duration Zumi will drive for each side

square_left(speed=40, seconds=1.0)

• speed: the forward speed you want Zumi to drive at
• seconds: the duration Zumi will drive for each side

j_turn(speed=100, step=4, delay=0.005)

• speed: the forward speed you want Zumi to drive at
• step: the angle step size
• delay: the delay between each angle step

figure_8(speed=30, step=3, delay=0.02)

• speed: the forward speed you want Zumi to drive at
• step: the angle step size as it goes from (0 – 360)
• delay: the delay between each angle step

parallel_park(speed=15, step=1, delay=0.01)

• speed: the forward speed you want Zumi to drive at
• step: the angle step size as it turns
• delay: the delay between each angle step

rectangle(speed=40, seconds=1.0, direction=1, ratio=2)

• speed: the forward speed you want Zumi to drive at
• seconds: the duration Zumi will drive for the shorter side
• direction: -1 for clockwise , +1 for counterclockwise
• ratio: the ratio of the longer side to the shorter side

triangle(speed=40, seconds=1.5, direction=1)

• speed: the forward speed you want Zumi to drive at
• seconds: the duration Zumi will drive for each side
• direction: -1 for clockwise , +1 for counterclockwise

Let’s see an example of these in action!

zumi.figure_8() # Runs figure 8 at default values
time.sleep(1)
zumi.figure_8(speed = 50) # Changing one value
time.sleep(1)
zumi.figure_8(step=4, delay=0.03) # Changing two values
time.sleep(1)
zumi.figure_8(speed=40, step=4, delay=0.03) # Changing all three values

Test out some of these drive functions in the cell below. Just know that as you change the parameters, you may need more space. We recommend that you drive Zumi on the floor and keep an eye on it while it’s driving.