From 7eaa00e48bdf8dbf5d0d1b6999f1f32dd68e4930 Mon Sep 17 00:00:00 2001
From: leo <leo@latentspace.cloud>
Date: Sun, 5 Oct 2025 18:56:57 +0200
Subject: [PATCH] curva a gradi e non di quanto si muove. mi chiamo giovanni
 ganci

---
 guida_funzionante.py | 32 +++++++++++++++++++++++---------
 leo/giro.py          | 22 ++++++++++++----------
 2 files changed, 35 insertions(+), 19 deletions(-)

diff --git a/guida_funzionante.py b/guida_funzionante.py
index 9c6ce0f..4262386 100644
--- a/guida_funzionante.py
+++ b/guida_funzionante.py
@@ -7,26 +7,40 @@ from pybricks.tools import wait
 import batteria
 from assi import A
 
+
+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)
+
+
 left = Motor(Port.B, Direction.COUNTERCLOCKWISE)
 right = Motor(Port.A)
 
 
 hub = PrimeHub(top_side=A.UP, front_side=A.BACKWARD)
 db = DriveBase(left, right, wheel_diameter=56, axle_track=105)
-db.use_gyro(True)
+db.use_gyro(True)  # abilitiamo il giroscopio
 # (mm/s, mm/s², deg/s, deg/s²)
 db.settings(100, 100, 90, 50)
 wait(300)
 db.reset(angle=0)
 
+db.straight(100)
+gira_fino_a_quando(90)
+print(db.angle())
+db.straight(100)
+gira_fino_a_quando(180)
+print(db.angle())
+db.straight(100)
+gira_fino_a_quando(270)
+print(db.angle())
+db.straight(100)
+gira_fino_a_quando(360)
+print(db.angle())
 
-db.straight(100)
-db.turn(90)
-db.straight(100)
-db.turn(90)
-db.straight(100)
-db.turn(90)
-db.straight(100)
-db.turn(90)
 
 print(f"drived {db.distance()}")
diff --git a/leo/giro.py b/leo/giro.py
index 101957c..eb80a7b 100644
--- a/leo/giro.py
+++ b/leo/giro.py
@@ -1,26 +1,26 @@
+from pybricks.hub import PrimHub
 from pybricks.hubs import InventorHub
 from pybricks.parameters import Axis, Port, Stop
 from pybricks.pupdevices import Motor
+from pybricks.tools import vector
 
-##from pybricks.hub import PrimHub
-
-# hub = InventorHub(top_side=vector(0, 0, 1), front_side=vector(0, 1, 0))
+hub = InventorHub(top_side=vector(0, 0, 1), front_side=vector(0, 1, 0))
 hub = InventorHub(top_side=Axis.Z, front_side=Axis.Y)
 
 mDestra = Motor(Port.A)
 mSinistra = Motor(Port.B)
 
 
-def vai_avanti(speed, gradi):
+def vai_avanti(speed: int, gradi: int):
     print(f"vado avanti di {gradi} a {speed}")
     mSinistra.run_angle(speed, gradi, then=Stop.NONE, wait=False)
     mDestra.run_angle(-speed, gradi, then=Stop.NONE, wait=True)
 
 
-# def turn(speed_L, speed_R, g):
-#     print("girogiro")
-#     mSinistra.run_angle(speed_L, g, then=Stop.NONE, wait=False)
-#     mDestra.run_angle(speed_R, g, then=Stop.NONE, wait=True)
+def turn(speed_L, speed_R, g):
+    print("girogiro")
+    mSinistra.run_angle(speed_L, g, then=Stop.NONE, wait=False)
+    mDestra.run_angle(speed_R, g, then=Stop.NONE, wait=True)
 
 
 def precision_turn(g):
@@ -41,5 +41,7 @@ def precision_turn(g):
 
 
 hub.imu.reset_heading(0)
-print("G: " + str(hub.imu.rotation(Axis.Z)))
-# precision_turn(90)
+a = hub.imu.heading()
+# print("G: " + str(hub.imu.rotation(Axis.Z)))
+print(a)
+precision_turn(90)