Minor tweaks

README.md

@@ -57,7 +57,7 @@ Methods to activate motors are:
 - `angled(angle, speed_primary, speed_secondary)` - makes motor to rotate to specified angle, `angle` value is integer degrees, can be negative and can be more than 360 for several rounds
 - `stop()` - stops motor at once, it is equivalent for `constant(0)`
 
-Parameter `speed_secondary` is used when it is motor group of `motor_AB` running together. By default, `speed_secondary` equals `speed_primary`. Speed values range is `-1.0` to `1.0`, float values.
+Parameter `speed_secondary` is used when it is motor group of `motor_AB` running together. By default, `speed_secondary` equals `speed_primary`. Speed values range is `-1.0` to `1.0`, float values. _Note: In group angled mode, total rotation angle is distributed across 2 motors according to motor speeds ratio._
 
 All these methods are synchronous by default, means method does not return untill it gets confirmation from Hub that command has completed. You can pass `async=True` parameter to any of methods to switch into asynchronous, which means command will return immediately, without waiting for rotation to complete. Be careful with asynchronous calls, as they make Hub to stop reporting synchronizing statuses.
 

examples/plotter/__init__.py

@@ -6,7 +6,7 @@ from pylgbst import ColorDistanceSensor, COLORS, COLOR_RED, COLOR_CYAN
 
 
 class Plotter(object):
-    MOTOR_RATIO = 1.45
+    MOTOR_RATIO = 1.425
     ROTATE_UNIT = 2100
 
     def __init__(self, hub, base_speed=1.0):
@@ -20,7 +20,6 @@ class Plotter(object):
         self.both = self._hub.motor_AB
 
         self.base_speed = float(base_speed)
-        self.field_width = 1.0 / self.base_speed
         self.xpos = 0
         self.ypos = 0
         self.is_tool_down = False
@@ -41,9 +40,9 @@ class Plotter(object):
             return
 
         self._hub.color_distance_sensor.subscribe(self._on_distance, mode=ColorDistanceSensor.COLOR_DISTANCE_FLOAT)
-        self.caret.timed(0.5, self.base_speed)
+        self.caret.timed(0.5, 1)
         try:
-            self.caret.constant(-self.base_speed)
+            self.caret.constant(-1)
             count = 0
             max_tries = 50
             while self._marker_color not in (COLOR_RED, COLOR_CYAN) and count < max_tries:
@@ -59,9 +58,9 @@ class Plotter(object):
             self._hub.color_distance_sensor.unsubscribe(self._on_distance)
 
         if self._marker_color == COLOR_CYAN:
-            self.move(-self.field_width * 0.1, 0)
+            self.move(- 0.1, 0)
         else:
-            self.move(-self.field_width, 0)
+            self.move(-1.0, 0)
 
     def _on_distance(self, color, distance):
         self._marker_color = None
@@ -89,6 +88,7 @@ class Plotter(object):
     def _tool_down(self):
         self.is_tool_down = True
         self._hub.motor_external.angled(-270, 1)
+        time.sleep(1.0)  # for laser to heat up
 
     def _tool_up(self):
         self._hub.motor_external.angled(270, 1)
@@ -109,15 +109,6 @@ class Plotter(object):
             logging.warning("No movement, ignored")
             return
 
-        if self.xpos + movx < -self.field_width:
-            logging.warning("Invalid xpos: %s", self.xpos)
-            # movx += self.xpos - self.field_width
-
-        if self.xpos + movx > self.field_width:
-            logging.warning("Invalid xpos: %s", self.xpos)
-            # movx -= self.xpos - self.field_width
-            # self.xpos -= self.xpos - self.field_width
-
         self._compensate_wheels_backlash(movy)
 
         self.xpos += movx
@@ -127,9 +118,9 @@ class Plotter(object):
         logging.info("Motors: %.3f with %.3f/%.3f", length, speed_a, speed_b)
 
         if not speed_b:
-            self.caret.angled(length * 2.0, -speed_a * self.base_speed)
+            self.caret.angled(length * 2.0, -speed_a * self.base_speed * 0.75)  # slow down to cut better
         elif not speed_a:
-            self.wheels.angled(length * 2.0, -speed_b * self.base_speed)
+            self.wheels.angled(length * 2.0, -speed_b * self.base_speed * 0.75)  # slow down to cut better
         else:
             self.both.angled(length, -speed_a * self.base_speed, -speed_b * self.base_speed)
 
@@ -235,19 +226,11 @@ class Plotter(object):
         self.line(0, -height)
 
         if solid:
-            max_step = 0.1
+            max_step = 0.01
             rounds = int(math.ceil(height / max_step))
             step = height / rounds
             flip = 1
-            self.line(0, step)  # luft
+            for r in range(1, rounds):
-            for r in range(1, rounds + 3):
                 self.line(0, step)
                 self.line(width * flip, 0)
                 flip = -flip
-
-
-class LaserPlotter(Plotter):
-
-    def _tool_down(self):
-        super(LaserPlotter, self)._tool_down()
-        time.sleep(1.0)

examples/plotter/try.py

@@ -2,7 +2,7 @@ import logging
 import time
 import traceback
 
-from examples.plotter import LaserPlotter
+from examples.plotter import Plotter
 from pylgbst import EncodedMotor, PORT_AB, PORT_C, PORT_A, PORT_B, MoveHub
 from pylgbst.comms import DebugServerConnection, BLEConnection
 from tests import HubMock
@@ -269,8 +269,8 @@ if __name__ == '__main__':
 
     hub = MoveHub(conn) if 1 else get_hub_mock()
 
-    plotter = LaserPlotter(hub, 0.4)
+    plotter = Plotter(hub, 0.75)
-    FIELD_WIDTH = plotter.field_width * 0.9
+    FIELD_WIDTH = 0.9
 
     try:
         plotter.initialize()
@@ -290,7 +290,7 @@ if __name__ == '__main__':
         # plotter.spiral(4, 0.02)
         # plotter.rectangle(FIELD_WIDTH / 5.0, FIELD_WIDTH / 5.0, solid=True)
 
-        square_spiral()
+        # square_spiral()
         # lego()
         # christmas_tree()
         # snowflake(0.5)