user3577397 user3577397 - 1 month ago 10
Python Question

Robotics - Recursive function for fractal.

I'm currently working with Myro/Calico with Robotics. I'm trying to run a recursive function of a fractal. I'm using Python.

I've been following pseudocode here.
Fractal

So far I've tried to implement the first step without recursion. And it runs well

# 1 foot per 2 seconds. x * 2 = feet desired.
def fractal(x):
waitTime = x*2
turnRight(1, 0.825) #90 degree turn
forward(1, x/3) #move length/3 steps
turnLeft(1, 0.55)#60 degree turn
forward(1, x/3) #move length/3 steps
turnRight(1, 1.1) #120 degree turn
forward(1, x/3) #move length/3 steps
turnLeft(1, 0.55) #60 degree turn
forward(1, x/3) #move length/3 steps


While this works, my goal is to go through this recursively, but make a smaller curve at each iteration. I attempted to do it, but my robot isn't moving as desired.

Here's my attempt at recursion

def fractal(x):
waitTime = x*2
if (x == 1):
forward(x/3)
else:
(x-1)/3
turnLeft(1,0.55) #60 degrees
if (x == 1):
forward(x/3)
else:
(x-1)/3
turnRight(1, 1.1) #120 degree turn
if (x == 1):
forward(x/3)
else:
(x-1)/3
turnLeft(1, 0.55)#60 degree turn
if (x == 1):
forward(x/3)
else:
(x-1)/3


My robot is only turning left and right, but it's not making the full shape. The one without the recursion started the fractal. I just need recursion to go through the whole fractal.

Answer

I'm thinking this is what you want to do

x = number of interations
l = lenth(wait time)
def fractal(x, l):
    if (x == 1):
        forward(l/3)
    else:
        fractal((x-1), l/3)
    turnLeft(1,0.55) #60 degrees
    if (x == 1):
        forward(l/3)
    else:
        fractal((x-1), l/3)
    turnRight(1, 1.1) #120 degree turn
    if (x == 1):
        forward(l/3)
    else:
        fractal((x-1), l/3)
    turnLeft(1, 0.55)#60 degree turn
    if (x == 1):
        forward(l/3)
    else:
        fractal((x-1), l/3)
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