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tutorials:beginner:controlling_turtlesim_2 [2019/07/03 12:29] – [ROS dependencies] tlippstutorials:beginner:controlling_turtlesim_2 [2022/02/21 10:08] (current) – [Fluents] schimpf
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                 :b b                 :b b
                 :width width                 :width width
-                :off off))                         +                :off off))
 </code>                            </code>                           
                                                                                
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 Let's see if we can also move the turtle from Lisp. Try the following: Let's see if we can also move the turtle from Lisp. Try the following:
 <code lisp> <code lisp>
-TUT> (dotimes (i 10) (send-vel-cmd 1 1) (sleep 1))+TUT> (dotimes (i 10) (send-vel-cmd 1 1) (wait-duration 1))
 </code> </code>
 We use the ''send-vel-cmd'' function that we defined in ''control-turtlesim.lisp''. We send the same command 10 times, once every second. The turtle should now move along a circle. We use the ''send-vel-cmd'' function that we defined in ''control-turtlesim.lisp''. We send the same command 10 times, once every second. The turtle should now move along a circle.