servo_wheels.py

servo_wheels.py

def stop():
    """Stops the wheels"""
    servos.position(left_wheel, degrees=90)
    servos.position(right_wheel, degrees=90)

def fw_step():
    """Moves the bot forward one step"""
    servos.position(left_wheel, degrees=90 + wheel_speed)
    servos.position(right_wheel, degrees=90 - wheel_speed + drift)
    utime.sleep(straight_length)
    stop()

def back_step():
    """Moves the bot backwards one step"""
    servos.position(left_wheel, degrees=90 - wheel_speed)
    servos.position(right_wheel, degrees=90 + wheel_speed + drift)
    utime.sleep(straight_length)
    stop()