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

programma facile

Browse source
This commit is contained in:
leo 2025-09-28 18:34:13 +02:00
parent 748ed8785f
commit 9205705d96
2 changed files with 62 additions and 11 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

44
leo/giro.py Normal file
View file

@ -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
View file

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