NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-26 14:05:14 +02:00
parent 5916f9dbb3
commit 0abeff7273
2 changed files with 63 additions and 9 deletions
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18
robot/arlo.py
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@ -6,8 +6,8 @@ import numpy as np
from .robot import Robot
START_VALUES = [60, 60]
THRESHOLD = 1.1
SLEEP_TIME = 2
THRESHOLD = 1.05
TESTING_SLEEP_TIME = 2
DEFAULT_CALIBRATION_CODE = "40.40-40.40-40.40_ff-ff-ff-ff"
FOCAL_LENGTH = 1691
@ -21,7 +21,7 @@ DIST_COEF = np.array([0,0,0,0,0], dtype=np.float32)
def test_forward(arlo, l_power, r_power):
arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 1, 1)
sleep(SLEEP_TIME)
sleep(TESTING_SLEEP_TIME)
arlo.stop()
return (
abs(int(arlo.read_left_wheel_encoder())),
@ -31,7 +31,7 @@ def test_forward(arlo, l_power, r_power):
def test_back(arlo, l_power, r_power):
arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 0, 0)
sleep(SLEEP_TIME)
sleep(TESTING_SLEEP_TIME)
arlo.stop()
return (
abs(int(arlo.read_left_wheel_encoder())),
@ -41,7 +41,7 @@ def test_back(arlo, l_power, r_power):
def test_clockwise(arlo, l_power, r_power):
arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 1, 0)
sleep(SLEEP_TIME)
sleep(TESTING_SLEEP_TIME)
arlo.stop()
return (
abs(int(arlo.read_left_wheel_encoder())),
@ -51,7 +51,7 @@ def test_clockwise(arlo, l_power, r_power):
def test_anticlockwise(arlo, l_power, r_power):
arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 0, 1)
sleep(SLEEP_TIME)
sleep(TESTING_SLEEP_TIME)
arlo.stop()
return (
abs(int(arlo.read_left_wheel_encoder())),
@ -181,15 +181,15 @@ class Arlo():
else:
values[i][1] += 1
cps[i] = wheels[0]/SLEEP_TIME
cps[i] = wheels[0]/TESTING_SLEEP_TIME
time = [0 for _ in range(4)]
cpc = 144/(3.14159*15) # wheel counts per cm
# milliseconds per 10cm forward
# milliseconds per 1cm forward
time[0] = int((1000 * cpc)/cps[0])
# milliseconds per 10cm backwards
# milliseconds per 1cm backwards
time[1] = int((1000 * cpc)/cps[1])
cpr = 3.1415*38 # 1 rotation in cm