From e2dd415bcbbc57bdd1a4cac3f5f2f4533bfec229 Mon Sep 17 00:00:00 2001
From: giovanni <giovanni@latentspace.cloud>
Date: Sun, 12 Oct 2025 18:12:06 +0200
Subject: [PATCH] cbhub va avanti e indietro

---
 M_1.py                  | 41 +++++++++++++++++++++++++++--------------
 appunti.txt             |  1 +
 guida_funzionante.py    |  2 +-
 guidaavantieindietro.py | 31 +++++++++++++++++++++++++++++++
 4 files changed, 60 insertions(+), 15 deletions(-)
 create mode 100644 appunti.txt
 create mode 100644 guidaavantieindietro.py

diff --git a/M_1.py b/M_1.py
index e7ae908..4b6184c 100644
--- a/M_1.py
+++ b/M_1.py
@@ -1,24 +1,37 @@
-from pybricks.hubs import PrimeHub
-from pybricks.parameters import Axis, Direction, Port, Stop
-from pybricks.pupdevices import Motor
-from pybricks.robotics import DriveBase
-from pybricks.tools import wait
+# from pybricks.hubs import InventorHub, PrimeHub
+# from pybricks.parameters import Axis, Direction, Port, Stop
+# from pybricks.pupdevices import Motor
+# from pybricks.robotics import DriveBase
+# from pybricks.tools import wait
 
-import batteria
-from assi import A
-from robots import cbrobot as robot
+# import batteria
+# from assi import A
+# from robot_class import LazyRobot
 
-straight_speed = 1000
+# from robots import cbrobot as robot
 
-hub = robot.hub
-db = robot.db
+# robot = LazyRobot(
+#    name="giohub",
+#   top_side=A.UP,
+#  front_side=A.RIGHT,
+# left_port=Port.B,
+# right_port=Port.A,
+# left_direction=Direction.COUNTERCLOCKWISE,
+# right_direction=Direction.CLOCKWISE,
+#    wheel_diameter=49.5,
+#   axle_track=88,
+#  use_gyro=True,
+# )
+# straight_speed = 1000
 
-mDestra = Motor(Port.A)
-mSinistra = Motor(Port.C)
+# hub = robot.hub
+# db = robot.db
 
+# mDestra = Motor(Port.A)
+# mSinistra = Motor(Port.C)
 
 # db.straight(1000)
 
-mSinistra.run_angle(100, 100, then=Stop.NONE, wait=False)
+# mDestra.run_angle(100, 100, then=Stop.NONE, wait=False)
 
 # mDestra.run_angle(100, 100, then=Stop.NONE, wait=True)
diff --git a/appunti.txt b/appunti.txt
new file mode 100644
index 0000000..2f58687
--- /dev/null
+++ b/appunti.txt
@@ -0,0 +1 @@
+pybricksdev run ble --name cbhub guida_funzionante.py
diff --git a/guida_funzionante.py b/guida_funzionante.py
index be6753f..2f826bd 100644
--- a/guida_funzionante.py
+++ b/guida_funzionante.py
@@ -6,7 +6,7 @@ from pybricks.tools import wait
 
 import batteria
 from assi import A
-from robots import leorobot as robot
+from robots import cbrobot as robot
 
 hub = robot.hub
 db = robot.db
diff --git a/guidaavantieindietro.py b/guidaavantieindietro.py
new file mode 100644
index 0000000..3d6f2bb
--- /dev/null
+++ b/guidaavantieindietro.py
@@ -0,0 +1,31 @@
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Axis, Direction, Port
+from pybricks.pupdevices import Motor
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait
+
+import batteria
+from assi import A
+from robots import cbrobot as robot
+
+hub = robot.hub
+db = robot.db
+
+
+def gira_fino_a_quando(gradi: int):
+    posizione_iniziale = db.angle()
+    gradi_mancanti = gradi - posizione_iniziale
+    db.turn(gradi_mancanti)
+    # dangolo = db.angle()
+    # if angolo < gradi:
+    # db.turn(gradi - angolo)
+
+
+db.use_gyro(True)  # abilitiamo il giroscopio
+# (mm/s, mm/s², deg/s, deg/s²)
+db.settings(100, 100, 90, 50)
+wait(300)
+db.reset(angle=0)
+
+db.straight(400)
+db.straight(-100)