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prima veriosne funzionante run_2

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leo 2025-11-09 17:50:54 +01:00
parent 4e2d265cbc
commit 9deacee07c
3 changed files with 16 additions and 10 deletions
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10
leo/appunti.txt
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@ -8,3 +8,13 @@ gradi da fare (per girare di 90gradi)
circ routa : 360 = strada da percorrere : x circ routa : 360 = strada da percorrere : x
x = 360 * strada da percorrere : circ ruota x = 360 * strada da percorrere : circ ruota
Motori:
Motor.E == M_Up Right
Motor.D == M_Up Left
Motor.A ==
Motor.B ==

5
menu.py
View file

@ -5,11 +5,10 @@ from pybricks.tools import hub_menu, wait
import batteria import batteria
from giro_leo_prova import main as run_R from giro_leo_prova import main as run_R
from robot_local import robot from robot_local import robot
from run_01 import main as run_1
# from run_01 import main as run_1
from run_02 import main as run_2 from run_02 import main as run_2
PROGRAMMI = {"2": run_2, "R": run_R} PROGRAMMI = {"1": run_1, "2": run_2, "R": run_R}
def run_with_play(hub, fn, *args, **kwargs): def run_with_play(hub, fn, *args, **kwargs):

11
run_02.py
View file

@ -1,6 +1,3 @@
from pickle import STOP
from threading import ThreadError
from pybricks.hubs import PrimeHub from pybricks.hubs import PrimeHub
from pybricks.parameters import Axis, Direction, Port, Stop from pybricks.parameters import Axis, Direction, Port, Stop
from pybricks.pupdevices import Motor from pybricks.pupdevices import Motor
@ -19,16 +16,16 @@ def main(robot: LazyRobot):
db.settings(864, 300, 100, 50) db.settings(864, 300, 100, 50)
db.straight(600) # mission 1 db.straight(610) # mission 1
msu_L.run_angle(1000, -720, Stop.HOLD, wait=True) # abbassamento dell'asscenzore msu_L.run_angle(1000, -420, Stop.HOLD, wait=True) # abbassamento dell'asscenzore
db.straight(50) # primo abbassamento del paletto rosso db.straight(50) # primo abbassamento del paletto rosso
db.straight(-120) # secondo abbassamento db.straight(-120) # secondo abbassamento
db.straight(40) db.straight(40)
msu_L.run_angle(1000, -720, Stop.HOLD, wait=False) # inalzamento ascensore msu_L.run_angle(1000, 420, Stop.HOLD, wait=False) # inalzamento ascensore
db.straight(50) # missione 2 db.straight(50) # missione 2
db.arc(500, 20, then=Stop.HOLD, wait=True) db.arc(500, 20, then=Stop.HOLD, wait=True)
msu_L.run_angle(1000, 360, Stop.HOLD, wait=True) msu_L.run_angle(1000, 180, Stop.HOLD, wait=True)
# db.straight(-150) # mission 3 #Return Point start arc # db.straight(-150) # mission 3 #Return Point start arc
# msu_L.run_angle(1000, -1440, Stop.COAST_SMART, wait=True) # msu_L.run_angle(1000, -1440, Stop.COAST_SMART, wait=True)