74 lines
1.9 KiB
Python
74 lines
1.9 KiB
Python
from pybricks.hubs import PrimeHub
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from pybricks.parameters import Axis, Direction, Port, Stop
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from pybricks.pupdevices import Motor
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from pybricks.robotics import DriveBase
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from pybricks.tools import wait
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from assi import A
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from robot_class import (
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DEFAULT_GYRO_SETTLE_MS,
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DEFAULT_STRAIGHT_ACCELERATION,
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DEFAULT_STRAIGHT_SPEED,
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DEFAULT_TURN_ACCELERATION,
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DEFAULT_TURN_RATE,
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LazyRobot,
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Robot,
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)
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# robot.py (estratto rilevante)
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leorobot = LazyRobot(
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name="leohub",
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top_side=A.UP,
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front_side=A.BACKWARD,
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left_port=Port.B,
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right_port=Port.A,
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left_direction=Direction.COUNTERCLOCKWISE,
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right_direction=Direction.CLOCKWISE,
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wheel_diameter=56,
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axle_track=105,
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use_gyro=True,
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straight_speed=DEFAULT_STRAIGHT_SPEED,
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straight_acceleration=DEFAULT_STRAIGHT_ACCELERATION,
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turn_rate=DEFAULT_TURN_RATE,
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turn_acceleration=DEFAULT_TURN_ACCELERATION,
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settle_ms=DEFAULT_GYRO_SETTLE_MS,
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)
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cbrobot = LazyRobot(
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name="cbhub",
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top_side=A.UP,
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front_side=A.RIGHT,
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left_port=Port.B,
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right_port=Port.A,
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left_direction=Direction.COUNTERCLOCKWISE,
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right_direction=Direction.CLOCKWISE,
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wheel_diameter=49.5,
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axle_track=88,
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use_gyro=True,
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straight_speed=DEFAULT_STRAIGHT_SPEED,
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straight_acceleration=DEFAULT_STRAIGHT_ACCELERATION,
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turn_rate=DEFAULT_TURN_RATE,
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turn_acceleration=DEFAULT_TURN_ACCELERATION,
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settle_ms=DEFAULT_GYRO_SETTLE_MS,
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)
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giorobot = LazyRobot(
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name="favhub",
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top_side=A.UP,
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front_side=A.RIGHT,
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left_port=Port.F,
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right_port=Port.B,
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left_direction=Direction.COUNTERCLOCKWISE,
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right_direction=Direction.CLOCKWISE,
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wheel_diameter=43.2,
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axle_track=80,
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use_gyro=True,
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straight_speed=DEFAULT_STRAIGHT_SPEED,
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straight_acceleration=DEFAULT_STRAIGHT_ACCELERATION,
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turn_rate=DEFAULT_TURN_RATE,
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turn_acceleration=DEFAULT_TURN_ACCELERATION,
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settle_ms=DEFAULT_GYRO_SETTLE_MS,
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)
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