extra motor

robot_class.py

@@ -45,6 +45,8 @@ class Robot:
     left: Motor
     right: Motor
     db: DriveBase
+    extra_L: Motor
+    extra_R: Motor
 
     def __init__(
         self,
@@ -55,6 +57,10 @@ class Robot:
         right_port: Port,
         left_direction: Direction,
         right_direction: Direction,
+        extra_L_port: Port,
+        extra_R_port: Port,
+        extra_L_direction: Direction,
+        extra_R_direction: Direction,
         wheel_diameter: float,
         axle_track: int,
         use_gyro: bool,
@@ -70,6 +76,8 @@ class Robot:
 
         self.left = Motor(left_port, left_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.left,

robots.py

@@ -34,6 +34,10 @@ leorobot = LazyRobot(
     turn_rate=DEFAULT_TURN_RATE,
     turn_acceleration=DEFAULT_TURN_ACCELERATION,
     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(
@@ -52,6 +56,10 @@ cbrobot = LazyRobot(
     turn_rate=DEFAULT_TURN_RATE,
     turn_acceleration=DEFAULT_TURN_ACCELERATION,
     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_acceleration=DEFAULT_TURN_ACCELERATION,
     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,
 )

run_02.py

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