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aggiunta la funzione del gioroscopio ma senza cureve

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leo 2025-09-25 19:02:10 +02:00
parent a6aa951e40
commit 748ed8785f
1 changed files with 11 additions and 5 deletions
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16
leo/ruote.py
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@ -1,9 +1,11 @@
from pybricks.parameters import Port, Stop from pybricks.hubs import InventorHub
from pybricks.parameters import Axis, Port, Stop
from pybricks.pupdevices import Motor from pybricks.pupdevices import Motor
from pybricks.tools import wait from pybricks.tools import vector, wait
# from pybricks.hub import PrimHub # from pybricks.hub import PrimHub
hub = InventorHub(top_side=vector(1, 1, 0), front_side=vector(-1, 1, 0))
mDestra = Motor(Port.F) mDestra = Motor(Port.F)
mSinistra = Motor(Port.B) mSinistra = Motor(Port.B)
@ -15,7 +17,7 @@ def vai_avanti(speed, gradi):
def turn(speed_L, speed_R, gradi): def turn(speed_L, speed_R, gradi):
print("girano le palle") print("girogiro")
mSinistra.run_angle(speed_L, gradi, then=Stop.NONE, wait=False) mSinistra.run_angle(speed_L, gradi, then=Stop.NONE, wait=False)
mDestra.run_angle(speed_R, gradi, then=Stop.NONE, wait=True) mDestra.run_angle(speed_R, gradi, then=Stop.NONE, wait=True)
@ -31,8 +33,12 @@ turn(1000, 1000, 120)
# vai_avanti(1000, 360) # vai_avanti(1000, 360)
# turn(1000, 1000, 360) # turn(1000, 1000, 360)
# giro = hub.imu.heading() giroX = hub.imu.rotation(Axis.X)
# print(giro) giroY = hub.imu.rotation(Axis.Y)
giroZ = hub.imu.rotation(Axis.Z)
print(giroX)
print(giroY)
print(giroZ)
while not (mSinistra.done() and mDestra.done()): while not (mSinistra.done() and mDestra.done()):
wait(10) wait(10)