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Update create3.py #51

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Update create3.py #51

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26 changes: 25 additions & 1 deletion irobot_edu_sdk/create3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,8 @@
# Licensed under 3-Clause BSD license available in the License file. Copyright (c) 2020-2024 iRobot Corporation. All rights reserved.
#

#-------------See changes in lines 164 through 185 to address premature timeout when navigating to origin using navigate_to()-----------------

import math
from enum import IntEnum, IntFlag
from typing import Union, Callable, Awaitable, List
Expand Down Expand Up @@ -159,7 +161,29 @@ async def navigate_to(self, x: Union[int, float], y: Union[int, float], heading:
completer = Completer()
self._responses[(dev, cmd, inc)] = completer
await self._backend.write_packet(Packet(dev, cmd, inc, payload))
timeout = self.DEFAULT_TIMEOUT + int(math.sqrt(x * x + y * y) / 10) + 4 # 4 is the timeout for a potential rotation.

#-----Zurcher modification (original commented out)-----
'''
Original line was calculating the timeout based off the passed destination coordinates, not the distance traveling.
When traveling a longer distance to the origin(0,0), or a destination near the origin, the navigate_to() function
would time out before the destination was reached. For example, if traveling to the origin (0,0) from a location
further away than the robot can transit in 7 seconds, the robot will return from navigate_to() and begin processing
the next function, long before the robot ever reaches (0,0).

To correct this issue, the current position is polled, and delta_x & delta_y, which represent the actual distance
to the destination are calculated by subtracting the current position from the destination position. Then, these
values are used in place of X and Y in the original timeout calculation.
'''

self.get_position()
delta_x=(x-self.pose.x)
delta_y=(y-self.pose.y)
timeout = self.DEFAULT_TIMEOUT + int(math.sqrt(delta_x*delta_x + delta_y * delta_y) / 10) + 4 # 4 is the timeout for a potential rotation.

#original line# timeout = self.DEFAULT_TIMEOUT + int(math.sqrt(x * x + y * y) / 10) + 4 # 4 is the timeout for a potential rotation.

#-------End Modification------------

packet = await completer.wait(timeout)
if self.USE_ROBOT_POSE and packet:
return self.pose.set_from_packet(packet)
Expand Down