38 lines
922 B
Python
38 lines
922 B
Python
from pybricks.parameters import Port, Stop
|
|
from pybricks.pupdevices import Motor
|
|
from pybricks.tools import wait
|
|
|
|
# from pybricks.hub import PrimHub
|
|
|
|
mDestra = Motor(Port.F)
|
|
mSinistra = Motor(Port.B)
|
|
|
|
|
|
def vai_avanti(speed, gradi):
|
|
print(f"vado avanti di {gradi} a {speed}")
|
|
mSinistra.run_angle(speed, gradi, then=Stop.NONE, wait=False)
|
|
mDestra.run_angle(-speed, gradi, then=Stop.NONE, wait=True)
|
|
|
|
|
|
def turn(speed_L, speed_R, gradi):
|
|
print("girano le palle")
|
|
mSinistra.run_angle(speed_L, gradi, then=Stop.NONE, wait=False)
|
|
mDestra.run_angle(speed_R, gradi, then=Stop.NONE, wait=True)
|
|
|
|
|
|
# reset_angle()
|
|
|
|
# vai_avanti(1000, 360)
|
|
turn(1000, 1000, 120)
|
|
# vai_avanti(1000, 360)
|
|
# turn(1000, 1000, 360)
|
|
# vai_avanti(1000, 360)
|
|
# turn(1000, 1000, 360)
|
|
# vai_avanti(1000, 360)
|
|
# turn(1000, 1000, 360)
|
|
|
|
# giro = hub.imu.heading()
|
|
# print(giro)
|
|
|
|
while not (mSinistra.done() and mDestra.done()):
|
|
wait(10)
|