From 76875d56f7e5eb6a602d507344c0967777319b7d Mon Sep 17 00:00:00 2001
From: Andrey Pohilko <apc4@ya.ru>
Date: Sat, 23 Dec 2017 20:16:42 +0300
Subject: [PATCH] calibrated new hw

---
 examples/plotter/__init__.py | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/examples/plotter/__init__.py b/examples/plotter/__init__.py
index 38d7b64..39d8553 100644
--- a/examples/plotter/__init__.py
+++ b/examples/plotter/__init__.py
@@ -11,7 +11,7 @@ class Plotter(MoveHub):
     def __init__(self, connection=None, base_speed=1.0):
         super(Plotter, self).__init__(connection)
         self.base_speed = base_speed
-        self.field_width = 2.0 / self.base_speed
+        self.field_width = 3.55 / self.base_speed
         self.xpos = 0
         self.ypos = 0
         self.is_tool_down = False
@@ -19,6 +19,7 @@ class Plotter(MoveHub):
         self.caret = self.motor_A
         self.wheels = self.motor_B
         self.both = self.motor_AB
+        self.__last_wheel_dir = 1
 
     def initialize(self):
         self._reset_caret()
@@ -45,7 +46,7 @@ class Plotter(MoveHub):
             self.caret.stop()
             self.color_distance_sensor.unsubscribe(self._on_distance)
 
-        self.caret.timed(0.925 / 0.4, self.base_speed)
+        self.move(-self.field_width, 0)
 
     def _on_distance(self, color, distance):
         self._marker_color = None
@@ -93,6 +94,8 @@ class Plotter(MoveHub):
             logging.warning("No movement, ignored")
             return
 
+        self._correct_wheels(movy)
+
         self.xpos += movx
         self.ypos += movy
 
@@ -102,6 +105,14 @@ class Plotter(MoveHub):
 
         # time.sleep(0.5)
 
+    def _correct_wheels(self, movy):
+        if not movy:
+            return
+        wheel_dir = movy / abs(movy)
+        if wheel_dir == -self.__last_wheel_dir:
+            self.wheels.angled(270, -wheel_dir)
+        self.__last_wheel_dir = wheel_dir
+
     @staticmethod
     def _calc_motor(movx, movy):
         amovx = float(abs(movx))