NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-05 13:59:25 +02:00
parent 48db731e61
commit 4f0bb76e55
2 changed files with 161 additions and 0 deletions
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69
encoder_free.py Normal file
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import time
from time import sleep
import robot
# Create a robot object and initialize
arlo = robot.Robot()
sleep(1)
# request to read Front sonar ping sensor
print("Front sensor = ", arlo.read_front_ping_sensor())
# request to read Back sonar ping sensor
print("Back sensor = ", arlo.read_back_ping_sensor())
# request to read Right sonar ping sensor
print("Right sensor = ", arlo.read_right_ping_sensor())
# request to read Left sonar ping sensor
print("Left sensor = ", arlo.read_left_ping_sensor())
# send a go_diff command to drive forward in a curve turning right
leftSpeed = 64
rightSpeed = 64
print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
# Wait a bit while robot moves forward
sleep(3)
# send a go_diff command to drive forward in a curve turning right
leftSpeed = 64
rightSpeed = 64
print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
# Wait a bit while robot moves forward
sleep(3)
# send a go_diff command to drive forward in a curve turning right
leftSpeed = 64
rightSpeed = 32
print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
# Wait a bit while robot moves forward
sleep(3)
# send a stop command
print(arlo.stop())
sleep(0.05)
# send a go_diff command to drive backwards the same way we came from
print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
# Wait a bit while robot moves backwards
sleep(3)
# send a stop command
print(arlo.stop())
print("Finished")

92
test_arduino_encoders.py Normal file
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import time
from time import sleep
import robot
# Create a robot object and initialize
arlo = robot.Robot()
sleep(1)
# send a go_diff command to drive forward
leftSpeed = 64
rightSpeed = 64
print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
# Wait a bit while robot moves forward
sleep(3)
# send a stop command
print(arlo.stop())
sleep(0.05)
print("Left = " + str(arlo.read_left_wheel_encoder()))
sleep(0.05)
print("Right = " + str(arlo.read_right_wheel_encoder()))
sleep(0.05)
# send a go_diff command to drive backwards
leftSpeed = 64
rightSpeed = 64
print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
# Wait a bit while robot moves forward
sleep(3)
# send a stop command
print(arlo.stop())
sleep(0.05)
print("Left = " + str(arlo.read_left_wheel_encoder()))
sleep(0.05)
print("Right = " + str(arlo.read_right_wheel_encoder()))
sleep(0.05)
# send a go_diff command to drive forward in a curve turning right
leftSpeed = 64
rightSpeed = 32
print(arlo.go_diff(leftSpeed, rightSpeed, 1, 1))
# Wait a bit while robot moves forward
sleep(3)
# send a stop command
print(arlo.stop())
sleep(0.05)
print("Left = " + str(arlo.read_left_wheel_encoder()))
sleep(0.05)
print("Right = " + str(arlo.read_right_wheel_encoder()))
sleep(0.05)
print(arlo.reset_encoder_counts())
sleep(0.05)
print("Left = " + str(arlo.read_left_wheel_encoder()))
sleep(0.05)
print("Right = " + str(arlo.read_right_wheel_encoder()))
sleep(0.05)
# send a go_diff command to drive backwards the same way we came from
print(arlo.go_diff(leftSpeed, rightSpeed, 0, 0))
# Wait a bit while robot moves backwards
sleep(3)
# send a stop command
print(arlo.stop())
sleep(0.05)
print("Left = " + str(arlo.read_left_wheel_encoder()))
sleep(0.05)
print("Right = " + str(arlo.read_right_wheel_encoder()))
sleep(0.05)
print("Finished")