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programma facile

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leo 2025-09-28 18:34:13 +02:00
parent 748ed8785f
commit 9205705d96
2 changed files with 62 additions and 11 deletions
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44
leo/giro.py Normal file
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@ -0,0 +1,44 @@
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(1, 1, 0), front_side=vector(-1, 1, 0))
mDestra = Motor(Port.A)
mSinistra = Motor(Port.B)
def vai_avanti(speed, gradi):
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 precision_turn(g):
while True:
gradi = hub.imu.rotation(Axis.Z)
print(f"gradi: {gradi}")
speed = g - gradi
if g < 0:
mSinistra.run_angle(speed, g, then=Stop.NONE, wait=False)
mDestra.run_angle(speed, g, then=Stop.NONE, wait=True)
elif g > 0:
mSinistra.run_angle(speed, g, then=Stop.NONE, wait=False)
mDestra.run_angle(speed, g, then=Stop.NONE, wait=True)
if gradi == g:
break
# reset_yaw()
print("G: " + str(hub.imu.rotation(Axis.Z)))
precision_turn(90)

29
leo/ruote.py
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@ -1,12 +1,13 @@
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, wait from pybricks.tools import vector
# from pybricks.hub import PrimHub # from pybricks.hub import PrimHub
hub = InventorHub(top_side=vector(1, 1, 0), front_side=vector(-1, 1, 0)) hub = InventorHub(top_side=vector(1, 1, 0), front_side=vector(-1, 1, 0))
mDestra = Motor(Port.F) gradi = Axis.Z
mDestra = Motor(Port.A)
mSinistra = Motor(Port.B) mSinistra = Motor(Port.B)
@ -25,7 +26,7 @@ def turn(speed_L, speed_R, gradi):
# reset_angle() # reset_angle()
# vai_avanti(1000, 360) # vai_avanti(1000, 360)
turn(1000, 1000, 120) # turn(1000, 1000, 120)
# vai_avanti(1000, 360) # vai_avanti(1000, 360)
# turn(1000, 1000, 360) # turn(1000, 1000, 360)
# vai_avanti(1000, 360) # vai_avanti(1000, 360)
@ -33,12 +34,18 @@ turn(1000, 1000, 120)
# vai_avanti(1000, 360) # vai_avanti(1000, 360)
# turn(1000, 1000, 360) # turn(1000, 1000, 360)
giroX = hub.imu.rotation(Axis.X) # giroX = hub.imu.rotation(Axis.X)
giroY = hub.imu.rotation(Axis.Y) # giroY = hub.imu.rotation(Axis.Y)
giroZ = hub.imu.rotation(Axis.Z) # giroZ = hub.imu.rotation(Axis.Z)
print(giroX) # print(giroX)
print(giroY) # print(giroY)
print(giroZ) # print(giroZ)
while not (mSinistra.done() and mDestra.done()): # start_angle_x = hub.imu.rotation(Axis.X)
wait(10) # start_angle_y = hub.imu.rotation(Axis.Y)
# while not (mSinistra.done() and mDestra.done()):
# wait(10)
vai_avanti(-2000, 6666)