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extra motor

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senpai 2025-11-09 18:32:11 +01:00
parent a287a451f1
commit a8ad88b7a3
3 changed files with 23 additions and 3 deletions
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8
robot_class.py
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@ -45,6 +45,8 @@ class Robot:
left: Motor left: Motor
right: Motor right: Motor
db: DriveBase db: DriveBase
extra_L: Motor
extra_R: Motor
def __init__( def __init__(
self, self,
@ -55,6 +57,10 @@ class Robot:
right_port: Port, right_port: Port,
left_direction: Direction, left_direction: Direction,
right_direction: Direction, right_direction: Direction,
extra_L_port: Port,
extra_R_port: Port,
extra_L_direction: Direction,
extra_R_direction: Direction,
wheel_diameter: float, wheel_diameter: float,
axle_track: int, axle_track: int,
use_gyro: bool, use_gyro: bool,
@ -70,6 +76,8 @@ class Robot:
self.left = Motor(left_port, left_direction) self.left = Motor(left_port, left_direction)
self.right = Motor(right_port, right_direction) self.right = Motor(right_port, right_direction)
self.extra_L = Motor(extra_L_port, extra_L_direction)
self.extra_R = Motor(extra_R_port, extra_R_direction)
self.db = DriveBase( self.db = DriveBase(
self.left, self.left,

12
robots.py
View file

@ -34,6 +34,10 @@ leorobot = LazyRobot(
turn_rate=DEFAULT_TURN_RATE, turn_rate=DEFAULT_TURN_RATE,
turn_acceleration=DEFAULT_TURN_ACCELERATION, turn_acceleration=DEFAULT_TURN_ACCELERATION,
settle_ms=DEFAULT_GYRO_SETTLE_MS, settle_ms=DEFAULT_GYRO_SETTLE_MS,
extra_R_port=Port.E,
extra_R_direction=Direction.CLOCKWISE,
extra_L_port=Port.D,
extra_L_direction=Direction.CLOCKWISE,
) )
cbrobot = LazyRobot( cbrobot = LazyRobot(
@ -52,6 +56,10 @@ cbrobot = LazyRobot(
turn_rate=DEFAULT_TURN_RATE, turn_rate=DEFAULT_TURN_RATE,
turn_acceleration=DEFAULT_TURN_ACCELERATION, turn_acceleration=DEFAULT_TURN_ACCELERATION,
settle_ms=DEFAULT_GYRO_SETTLE_MS, settle_ms=DEFAULT_GYRO_SETTLE_MS,
extra_R_port=Port.E,
extra_R_direction=Direction.CLOCKWISE,
extra_L_port=Port.D,
extra_L_direction=Direction.CLOCKWISE,
) )
@ -71,4 +79,8 @@ giorobot = LazyRobot(
turn_rate=DEFAULT_TURN_RATE, turn_rate=DEFAULT_TURN_RATE,
turn_acceleration=DEFAULT_TURN_ACCELERATION, turn_acceleration=DEFAULT_TURN_ACCELERATION,
settle_ms=DEFAULT_GYRO_SETTLE_MS, settle_ms=DEFAULT_GYRO_SETTLE_MS,
extra_R_port=Port.E,
extra_R_direction=Direction.CLOCKWISE,
extra_L_port=Port.D,
extra_L_direction=Direction.CLOCKWISE,
) )

6
run_02.py
View file

@ -6,14 +6,14 @@ from pybricks.robotics import DriveBase
from assi import A from assi import A
from robot_class import LazyRobot, Robot from robot_class import LazyRobot, Robot
msu_R = Motor(Port.E)
msu_L = Motor(Port.D)
def main(robot: LazyRobot): def main(robot: LazyRobot):
hub = robot.hub hub = robot.hub
db = robot.db db = robot.db
msu_R = robot.extra_R
msu_L = robot.extra_L
db.settings(864, 300, 100, 50) db.settings(864, 300, 100, 50)
db.straight(610) # mission 1 db.straight(610) # mission 1