def _run(self):
try:
loopTimer = Timer()
while self.active:
speedL = self.targetV - self.targetOmega * self.odometer.track / 2.
speedR = self.targetV + self.targetOmega * self.odometer.track / 2.
self.motors.speed(speedL, speedR)
loopTimer.sleepToElapsed(self.timeStep)
self.odometer.update()
except IOError:
print "IOError - Stopping"
self.stop()
self.kill()
# Starts the ._run() method in a thread
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