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curva precisa migliorata

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leo 2025-10-26 18:56:42 +01:00
parent b0894ae5c2
commit 80233cbc9a
1 changed files with 9 additions and 25 deletions
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34
giro_leo_prova.py
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@ -5,8 +5,6 @@ from pybricks.robotics import DriveBase
from pybricks.tools import wait from pybricks.tools import wait
from assi import A from assi import A
# from leo import giro
from robot_class import LazyRobot, Robot from robot_class import LazyRobot, Robot
from robots import leorobot as robot from robots import leorobot as robot
@ -47,7 +45,7 @@ def main(robot: LazyRobot):
) < -0.2: ) < -0.2:
gradi_mancanti = destinazione - gradi_attuali gradi_mancanti = destinazione - gradi_attuali
velocita = abs(gradi_mancanti) velocita = abs(gradi_mancanti)
print("Gradi manc: ", gradi_mancanti) # print("Gradi manc: ", gradi_mancanti)
if gradi_mancanti > 0: if gradi_mancanti > 0:
robot.left.run(velocita + aumento_v) robot.left.run(velocita + aumento_v)
robot.right.run(-velocita - aumento_v) robot.right.run(-velocita - aumento_v)
@ -66,32 +64,18 @@ def main(robot: LazyRobot):
wait(300) wait(300)
db.reset(angle=0) db.reset(angle=0)
# db.straight(100)
# gira_precisa(90)
# print(db.angle())
# db.straight(100)
# gira_precisa(180)
# print(db.angle())
# db.straight(100)
# gira_precisa(270)
# print(db.angle())
# db.straight(100)
# gira_precisa(360)
# print(db.angle())
giro_preciso(-120) giro_preciso(-120)
print(db.angle()) print(db.angle())
giro_preciso(120) giro_preciso(120)
print(db.angle()) print(db.angle())
# gira_precisa(-60) giro_preciso(90)
# print(db.angle()) print(db.angle())
giro_preciso(180)
# gira_fino_a_quando(120) print(db.angle())
# print(db.angle()) giro_preciso(-90)
# gira_fino_a_quando(60) print(db.angle())
# print(db.angle()) giro_preciso(35)
# gira_fino_a_quando(-60) print(db.angle())
# print(db.angle())
print(f"drived {db.distance()}") print(f"drived {db.distance()}")