prima veriosne funzionante run_2

leo/appunti.txt

@@ -8,3 +8,13 @@ gradi da fare (per girare di 90gradi)
 circ routa : 360 = strada da percorrere : x
 
 x = 360 * strada da percorrere : circ ruota
+
+
+
+
+Motori:
+
+Motor.E == M_Up Right
+Motor.D == M_Up Left
+Motor.A ==
+Motor.B ==

menu.py

@@ -5,11 +5,10 @@ from pybricks.tools import hub_menu, wait
 import batteria
 from giro_leo_prova import main as run_R
 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
 
-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):

run_02.py

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