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

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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
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32
guida_funzionante.py
View file

@ -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()}")

22
leo/giro.py
View file

@ -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)