From a6aa951e4027285eafd2d62cf7e597d522e0953b Mon Sep 17 00:00:00 2001
From: leo <leo@latentspace.cloud>
Date: Sun, 21 Sep 2025 19:16:29 +0200
Subject: [PATCH] in ruote aggiuno giroscopio, creato appunti dettagli robot

---
 leo/appunti.txt | 10 ++++++++++
 leo/ruote.py    | 18 ++++++++++++++----
 2 files changed, 24 insertions(+), 4 deletions(-)
 create mode 100644 leo/appunti.txt

diff --git a/leo/appunti.txt b/leo/appunti.txt
new file mode 100644
index 0000000..a8d4300
--- /dev/null
+++ b/leo/appunti.txt
@@ -0,0 +1,10 @@
+distanza tra le assi = 87mm
+diametro ruota = 43.2mm
+circonferenza ruota = 43.5 * pi = 135.71mm
+strada da percorrere = 87 * pi / 4 = 68.33mm
+gradi da fare (per girare di 90gradi)
+
+
+circ routa : 360 = strada da percorrere : x
+
+x = 360 * strada da percorrere : circ ruota
diff --git a/leo/ruote.py b/leo/ruote.py
index 791e88a..bb90d11 100644
--- a/leo/ruote.py
+++ b/leo/ruote.py
@@ -2,6 +2,8 @@ from pybricks.parameters import Port, Stop
 from pybricks.pupdevices import Motor
 from pybricks.tools import wait
 
+# from pybricks.hub import PrimHub
+
 mDestra = Motor(Port.F)
 mSinistra = Motor(Port.B)
 
@@ -18,11 +20,19 @@ def turn(speed_L, speed_R, gradi):
     mDestra.run_angle(speed_R, gradi, then=Stop.NONE, wait=True)
 
 
-vai_avanti(1000, 360)
-turn(1000, 1000, 360)
-vai_avanti(1000, 360)
-turn(1000, 1000, 360)
+# reset_angle()
 
+# vai_avanti(1000, 360)
+turn(1000, 1000, 120)
+# vai_avanti(1000, 360)
+# turn(1000, 1000, 360)
+# vai_avanti(1000, 360)
+# turn(1000, 1000, 360)
+# vai_avanti(1000, 360)
+# turn(1000, 1000, 360)
+
+# giro = hub.imu.heading()
+# print(giro)
 
 while not (mSinistra.done() and mDestra.done()):
     wait(10)