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Code Issues Releases Wiki Activity

Fixed hardware part for pin machine

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This commit is contained in:
Andrey Pokhilko 2019-08-05 14:11:53 +03:00
parent 6da6797374
commit 66c376b2bd
1 changed files with 11 additions and 12 deletions
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23
examples/automata/__init__.py
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@ -7,12 +7,12 @@ from pylgbst.peripherals import EncodedMotor
class Automata(object): class Automata(object):
BASE_SPEED = 0.5 BASE_SPEED = 0.75
def __init__(self): def __init__(self):
super(Automata, self).__init__() super(Automata, self).__init__()
self.__hub = MoveHub() self.__hub = MoveHub()
self.__hub.vision_sensor.subscribe(self.__on_sensor) # self.__hub.vision_sensor.subscribe(self.__on_sensor)
self._sensor = [] self._sensor = []
def __on_sensor(self, color, distance=-1): def __on_sensor(self, color, distance=-1):
@ -39,31 +39,30 @@ class Automata(object):
return clr return clr
def left(self): def left(self):
self.__hub.motor_A.angled(270, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD) self.__hub.motor_AB.angled(270, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD)
time.sleep(0.1) time.sleep(0.1)
self.__hub.motor_A.stop() self.__hub.motor_AB.stop()
def right(self): def right(self):
self.__hub.motor_B.angled(-320, self.BASE_SPEED, -self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD) self.__hub.motor_AB.angled(235, -self.BASE_SPEED, self.BASE_SPEED, end_state=EncodedMotor.END_STATE_HOLD)
time.sleep(0.1) time.sleep(0.1)
self.__hub.motor_B.stop() self.__hub.motor_AB.stop()
def forward(self): def forward(self):
self.__hub.motor_AB.angled(450, self.BASE_SPEED) self.__hub.motor_AB.angled(500, self.BASE_SPEED)
def backward(self): def backward(self):
self.__hub.motor_AB.angled(-450, self.BASE_SPEED) self.__hub.motor_AB.angled(500, -self.BASE_SPEED)
if __name__ == '__main__': if __name__ == '__main__':
logging.basicConfig(level=logging.INFO) logging.basicConfig(level=logging.INFO)
bot = Automata() bot = Automata()
bot.forward()
bot.right()
bot.forward()
bot.left() bot.left()
bot.forward() bot.left()
bot.left()
bot.left()
exit(0) exit(0)