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Code Issues Releases Wiki Activity

Some protections

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This commit is contained in:
Andrey Pohilko 2017-12-26 18:14:01 +03:00
parent 16fabe0e28
commit d19cab08d8
1 changed files with 5 additions and 1 deletions
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6
pylgbst/peripherals.py
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@ -1,4 +1,5 @@
import logging import logging
import math
import time import time
import traceback import traceback
from struct import pack, unpack from struct import pack, unpack
@ -166,7 +167,7 @@ class EncodedMotor(Peripheral):
log.warning("Speed cannot be more than 1") log.warning("Speed cannot be more than 1")
relative = 1 relative = 1
absolute = round(relative * 100) # scale of 100 is proven by experiments absolute = math.ceil(relative * 100) # scale of 100 is proven by experiments
return int(absolute) return int(absolute)
def _wrap_and_write(self, mtype, params, speed_primary, speed_secondary): def _wrap_and_write(self, mtype, params, speed_primary, speed_secondary):
@ -175,6 +176,8 @@ class EncodedMotor(Peripheral):
abs_primary = self._speed_abs(speed_primary) abs_primary = self._speed_abs(speed_primary)
abs_secondary = self._speed_abs(speed_secondary) abs_secondary = self._speed_abs(speed_secondary)
if abs_primary == -97 and abs_secondary == 3:
logging.info("P/S: %s/%s", abs_primary, abs_secondary)
if mtype == self.ANGLED_GROUP and (not abs_secondary or not abs_primary): if mtype == self.ANGLED_GROUP and (not abs_secondary or not abs_primary):
raise ValueError("Cannot have zero speed in double angled mode") # otherwise it gets nuts raise ValueError("Cannot have zero speed in double angled mode") # otherwise it gets nuts
@ -203,6 +206,7 @@ class EncodedMotor(Peripheral):
if speed_secondary is None: if speed_secondary is None:
speed_secondary = speed_primary speed_secondary = speed_primary
angle = int(round(angle))
if angle < 0: if angle < 0:
angle = -angle angle = -angle
speed_primary = -speed_primary speed_primary = -speed_primary