senpai/FLL
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

curva a gradi e non di quanto si muove. mi chiamo giovanni ganci

Browse source
This commit is contained in:
leo 2025-10-05 18:56:57 +02:00
parent 5576e48642
commit 7eaa00e48b
2 changed files with 35 additions and 19 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

32
guida_funzionante.py
View file

@ -7,26 +7,40 @@ from pybricks.tools import wait
import batteria import batteria
from assi import A 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) left = Motor(Port.B, Direction.COUNTERCLOCKWISE)
right = Motor(Port.A) right = Motor(Port.A)
hub = PrimeHub(top_side=A.UP, front_side=A.BACKWARD) hub = PrimeHub(top_side=A.UP, front_side=A.BACKWARD)
db = DriveBase(left, right, wheel_diameter=56, axle_track=105) 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) # (mm/s, mm/s², deg/s, deg/s²)
db.settings(100, 100, 90, 50) db.settings(100, 100, 90, 50)
wait(300) wait(300)
db.reset(angle=0) 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()}") print(f"drived {db.distance()}")

22
leo/giro.py
View file

@ -1,26 +1,26 @@
from pybricks.hub import PrimHub
from pybricks.hubs import InventorHub from pybricks.hubs import InventorHub
from pybricks.parameters import Axis, Port, Stop from pybricks.parameters import Axis, Port, Stop
from pybricks.pupdevices import Motor 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) hub = InventorHub(top_side=Axis.Z, front_side=Axis.Y)
mDestra = Motor(Port.A) mDestra = Motor(Port.A)
mSinistra = Motor(Port.B) mSinistra = Motor(Port.B)
def vai_avanti(speed, gradi): def vai_avanti(speed: int, gradi: int):
print(f"vado avanti di {gradi} a {speed}") print(f"vado avanti di {gradi} a {speed}")
mSinistra.run_angle(speed, gradi, then=Stop.NONE, wait=False) mSinistra.run_angle(speed, gradi, then=Stop.NONE, wait=False)
mDestra.run_angle(-speed, gradi, then=Stop.NONE, wait=True) mDestra.run_angle(-speed, gradi, then=Stop.NONE, wait=True)
# def turn(speed_L, speed_R, g): def turn(speed_L, speed_R, g):
# print("girogiro") print("girogiro")
# mSinistra.run_angle(speed_L, g, then=Stop.NONE, wait=False) mSinistra.run_angle(speed_L, g, then=Stop.NONE, wait=False)
# mDestra.run_angle(speed_R, g, then=Stop.NONE, wait=True) mDestra.run_angle(speed_R, g, then=Stop.NONE, wait=True)
def precision_turn(g): def precision_turn(g):
@ -41,5 +41,7 @@ def precision_turn(g):
hub.imu.reset_heading(0) hub.imu.reset_heading(0)
print("G: " + str(hub.imu.rotation(Axis.Z))) a = hub.imu.heading()
# precision_turn(90) # print("G: " + str(hub.imu.rotation(Axis.Z)))
print(a)
precision_turn(90)