Exercises

1. Try experimenting with turning on different logging levels and differently named loggers, tuning how much output a robot behavior creates.
2. For the PID behaviors, tune the PIDs, try high values for the proportional or the integral, and observe how this makes the robot behave. Could you combine this with graphing in matplotlib to observe the PID behavior?
3. There are a few ways that the drive distance code could be improved. Applying a PID controller to the distance moved by the primary could make it close in more precisely on the exact distance to travel. Detecting no movement in either encoder could be used to make the code stop after a timeout so that it doesn't drive off without stopping. Try this out.
4. You could now use this code to make further geometric shapes or to follow paths without a line. Try adding high-level left turn/right turn 90-degree functions as building blocks for right-angled path construction, then use this to make paths.
5. Consider...