Staying in the Circle

Your robot is now capable of stopping when it sees a line. You can use this functionality to keep your robot trapped inside a circle! You’ll find out why you’d want to do this in the next module, which is a challenge activity!

Let’s break this problem down into a series of steps:

1. Drive forward until a line is seen (the edge of the circle)

2. Stop driving so that the robot doesn’t leave the circle

3. Turn around

4. Repeat

You already have code which does steps 1 and 2 (drive_until_line()), and you learned back in the robot driving module how to do step 3 (drivetrain.turn(), see /course/driving/calling_drive_functions for a refresher)

Try it out

Write an infinite loop which keeps the robot in a circle. Try out different angles when turning around. You may want to try not turning a full 180 degrees.