46 lines
1 KiB
Python
46 lines
1 KiB
Python
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
|
|
|
|
|
|
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)
|
|
|
|
|
|
left = Motor(Port.B, Direction.COUNTERCLOCKWISE)
|
|
right = Motor(Port.A)
|
|
|
|
|
|
hub = PrimeHub(top_side=A.UP, front_side=A.BACKWARD)
|
|
db = DriveBase(left, right, wheel_diameter=56, axle_track=105)
|
|
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(100)
|
|
gira_fino_a_quando(90)
|
|
print(db.angle())
|
|
db.straight(100)
|
|
gira_fino_a_quando(180)
|
|
print(db.angle())
|
|
db.straight(100)
|
|
gira_fino_a_quando(270)
|
|
print(db.angle())
|
|
db.straight(100)
|
|
gira_fino_a_quando(360)
|
|
print(db.angle())
|
|
|
|
|
|
print(f"drived {db.distance()}")
|