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Started working on planets.py, fixed and imroved functions in wheel.py

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d3rped 2018-03-19 10:14:42 +01:00
parent 284edb9e0a
commit 068208bed8
3 changed files with 10 additions and 5 deletions
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9
src/move.py
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@ -33,16 +33,17 @@ class Move:
Next turn around and detect edges through drops in _sensor.getbrightness() Next turn around and detect edges through drops in _sensor.getbrightness()
''' '''
def getstationedges(self): def getstationedges(self):
pass self._wheel_l.turnbyamount(500, 250)
self._wheel_r.turnbyamount(-500, 250)
def traversetonextstation(self, isknownstation): def traversetonextstation(self, isknownstation):
self._wheel_l.speed_set = 24 self._wheel_l.speed_set(24)
self._wheel_r.speed_set = 24 self._wheel_r.speed_set(24)
self._wheel_l.run() self._wheel_l.run()
self._wheel_r.run() self._wheel_r.run()
while(self._bumper.value() == False): while(self._bumper.value() == False):
# this does not work... why? # this does not work... why?
# self._wheel_l.speed_set(newspeed) # self._wheel_l.speed_set(ne)
# self._wheel_r.speed_set(newspeed) # self._wheel_r.speed_set(newspeed)
self._wheel_l._motor.duty_cycle_sp = 48 - self._sensor.getbrightness() self._wheel_l._motor.duty_cycle_sp = 48 - self._sensor.getbrightness()
self._wheel_r._motor.duty_cycle_sp = self._sensor.getbrightness() self._wheel_r._motor.duty_cycle_sp = self._sensor.getbrightness()

1
src/planet.py
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@ -30,6 +30,7 @@ Node checking:
Simplify this for node search: Simplify this for node search:
next(x for (x, y), direction in planetmap[0]) next(x for (x, y), direction in planetmap[0])
next(y for x, y in planetmap[0] if x == (0, 0)) next(y for x, y in planetmap[0] if x == (0, 0))
planetmap[0][next((x, y) for x, y in planetmap[0] if y == 'North')]
''' '''
class Planet: class Planet:
""" """

5
src/wheel.py
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@ -21,7 +21,10 @@ class Wheel:
def speed_mod(self, modifier): def speed_mod(self, modifier):
self._motor.duty_cycle_sp = self._motor.duty_cycle_sp + modifier self._motor.duty_cycle_sp = self._motor.duty_cycle_sp + modifier
def turnbyamount(self, posdif, speed):
self._motor.run_to_rel_pos(position_sp=posdif, speed_sp=speed)
def getmovement(self): def getmovement(self):
self.position = self._motor.position self.position = self._motor.position
self._motor.position = 0 self._motor.position = self._motor.position - self.position
return self.position return self.position