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rx: tweaks, add max delta for turns

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Konstantin Koslowski 2021-07-15 21:21:07 +02:00
parent 1df647198b
commit 0899deb958
1 changed files with 32 additions and 7 deletions
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39
src/esc.py
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@ -1,7 +1,9 @@
from motor import Motor from motor import Motor
from time import sleep from time import sleep
delta = 10 DELTA = 10
DELTA_TURN = 5
DELTA_MAX = 30
class Esc: class Esc:
def __init__(self, pin_m1_ena, pin_m1_in1, pin_m1_in2, def __init__(self, pin_m1_ena, pin_m1_in1, pin_m1_in2,
@ -10,22 +12,45 @@ class Esc:
self.m2 = Motor("m2", pin_m2_ena, pin_m2_in1, pin_m2_in2) self.m2 = Motor("m2", pin_m2_ena, pin_m2_in1, pin_m2_in2)
def fwd(self): def fwd(self):
speed = min((self.m1.speed + self.m2.speed)/2 + delta, 100) speed = min((self.m1.speed + self.m2.speed)/2 + DELTA, 100)
self.m1.set_speed(speed) self.m1.set_speed(speed)
self.m2.set_speed(speed) self.m2.set_speed(speed)
def rev(self): def rev(self):
speed = max((self.m1.speed + self.m2.speed)/2 - delta, -100) speed = max((self.m1.speed + self.m2.speed)/2 - DELTA, -100)
self.m1.set_speed(speed) self.m1.set_speed(speed)
self.m2.set_speed(speed) self.m2.set_speed(speed)
def left(self): def left(self):
self.m1.dec(delta) s1 = self.m1.speed
self.m2.inc(delta) s2 = self.m2.speed
avg = (s1 + s2)/2
delta = s2 - s1
if delta <= (DELTA_MAX - 2*DELTA_TURN):
self.m1.dec(DELTA_TURN)
self.m2.inc(DELTA_TURN)
elif delta == DELTA_MAX:
print("delta reached, not changing")
elif delta > (DELTA_MAX):
print("delta exceeded, resetting")
self.m1.set_speed(avg - DELTA_TURN)
self.m2.set_speed(avg + DELTA_TURN)
def right(self): def right(self):
self.m1.inc(delta) s1 = self.m1.speed
self.m2.dec(delta) s2 = self.m2.speed
avg = (s1 + s2)/2
delta = s1 - s2
if delta <= (DELTA_MAX - 2*DELTA_TURN):
self.m1.inc(DELTA_TURN)
self.m2.dec(DELTA_TURN)
elif delta == DELTA_MAX:
print("delta reached, not changing")
elif delta > (DELTA_MAX):
print("delta exceeded, resetting")
self.m1.set_speed(avg + DELTA_TURN)
self.m2.set_speed(avg - DELTA_TURN)
# stop # stop
def b1(self): def b1(self):