From 2f3636bb7dcf9c63b0d10bc65265f77124c2b481 Mon Sep 17 00:00:00 2001 From: giovanni Date: Sun, 12 Oct 2025 19:00:58 +0200 Subject: [PATCH] =?UTF-8?q?robot=20di=20gio=20=C3=A8=20a=20posto?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- guidaavantieindietro.py | 5 +++-- robots.py | 19 +++++++++++++++++++ 2 files changed, 22 insertions(+), 2 deletions(-) diff --git a/guidaavantieindietro.py b/guidaavantieindietro.py index 11512e4..7b4fb2d 100644 --- a/guidaavantieindietro.py +++ b/guidaavantieindietro.py @@ -6,7 +6,7 @@ from pybricks.tools import wait import batteria from assi import A -from robots import cbrobot as robot +from robots import giorobot as robot hub = robot.hub db = robot.db @@ -16,6 +16,7 @@ def gira_fino_a_quando(gradi: int): posizione_iniziale = db.angle() gradi_mancanti = gradi - posizione_iniziale db.turn(gradi_mancanti) + # dangolo = db.angle() # if angolo < gradi: # db.turn(gradi - angolo) @@ -23,7 +24,7 @@ def gira_fino_a_quando(gradi: int): db.use_gyro(True) # abilitiamo il giroscopio # (mm/s, mm/s², deg/s, deg/s²) -db.settings(864, 500, 200, 50) +db.settings(100, 100, 100, 50) # max mm/s = 864 # mm/s quadrato = accelerazione # diff --git a/robots.py b/robots.py index d2ef2ab..69a0285 100644 --- a/robots.py +++ b/robots.py @@ -53,3 +53,22 @@ cbrobot = LazyRobot( turn_acceleration=DEFAULT_TURN_ACCELERATION, settle_ms=DEFAULT_GYRO_SETTLE_MS, ) + + +giorobot = LazyRobot( + name="favhub", + top_side=A.UP, + front_side=A.RIGHT, + left_port=Port.F, + right_port=Port.B, + left_direction=Direction.COUNTERCLOCKWISE, + right_direction=Direction.CLOCKWISE, + wheel_diameter=43.2, + axle_track=80, + use_gyro=True, + straight_speed=DEFAULT_STRAIGHT_SPEED, + straight_acceleration=DEFAULT_STRAIGHT_ACCELERATION, + turn_rate=DEFAULT_TURN_RATE, + turn_acceleration=DEFAULT_TURN_ACCELERATION, + settle_ms=DEFAULT_GYRO_SETTLE_MS, +)