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Code Issues Releases Wiki Activity

calibrated new hw

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This commit is contained in:
Andrey Pohilko 2017-12-23 20:16:42 +03:00
parent 4a5880de20
commit 76875d56f7
1 changed files with 13 additions and 2 deletions
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15
examples/plotter/__init__.py
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@ -11,7 +11,7 @@ class Plotter(MoveHub):
def __init__(self, connection=None, base_speed=1.0): def __init__(self, connection=None, base_speed=1.0):
super(Plotter, self).__init__(connection) super(Plotter, self).__init__(connection)
self.base_speed = base_speed 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.xpos = 0
self.ypos = 0 self.ypos = 0
self.is_tool_down = False self.is_tool_down = False
@ -19,6 +19,7 @@ class Plotter(MoveHub):
self.caret = self.motor_A self.caret = self.motor_A
self.wheels = self.motor_B self.wheels = self.motor_B
self.both = self.motor_AB self.both = self.motor_AB
self.__last_wheel_dir = 1
def initialize(self): def initialize(self):
self._reset_caret() self._reset_caret()
@ -45,7 +46,7 @@ class Plotter(MoveHub):
self.caret.stop() self.caret.stop()
self.color_distance_sensor.unsubscribe(self._on_distance) 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): def _on_distance(self, color, distance):
self._marker_color = None self._marker_color = None
@ -93,6 +94,8 @@ class Plotter(MoveHub):
logging.warning("No movement, ignored") logging.warning("No movement, ignored")
return return
self._correct_wheels(movy)
self.xpos += movx self.xpos += movx
self.ypos += movy self.ypos += movy
@ -102,6 +105,14 @@ class Plotter(MoveHub):
# time.sleep(0.5) # 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 @staticmethod
def _calc_motor(movx, movy): def _calc_motor(movx, movy):
amovx = float(abs(movx)) amovx = float(abs(movx))