44 lines
1.1 KiB
Python
44 lines
1.1 KiB
Python
from pybricks.hubs import InventorHub
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from pybricks.parameters import Axis, Port, Stop
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from pybricks.pupdevices import Motor
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from pybricks.tools import vector, wait
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# from pybricks.hub import PrimHub
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hub = InventorHub(top_side=vector(1, 1, 0), front_side=vector(-1, 1, 0))
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mDestra = Motor(Port.F)
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mSinistra = Motor(Port.B)
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def vai_avanti(speed, gradi):
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print(f"vado avanti di {gradi} a {speed}")
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mSinistra.run_angle(speed, gradi, then=Stop.NONE, wait=False)
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mDestra.run_angle(-speed, gradi, then=Stop.NONE, wait=True)
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def turn(speed_L, speed_R, gradi):
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print("girogiro")
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mSinistra.run_angle(speed_L, gradi, then=Stop.NONE, wait=False)
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mDestra.run_angle(speed_R, gradi, then=Stop.NONE, wait=True)
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# reset_angle()
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# vai_avanti(1000, 360)
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turn(1000, 1000, 120)
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# vai_avanti(1000, 360)
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# turn(1000, 1000, 360)
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# vai_avanti(1000, 360)
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# turn(1000, 1000, 360)
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# vai_avanti(1000, 360)
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# turn(1000, 1000, 360)
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giroX = hub.imu.rotation(Axis.X)
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giroY = hub.imu.rotation(Axis.Y)
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giroZ = hub.imu.rotation(Axis.Z)
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print(giroX)
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print(giroY)
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print(giroZ)
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while not (mSinistra.done() and mDestra.done()):
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wait(10)
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