NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-19 15:47:32 +02:00
parent ee671e7787
commit 8dbdfa87cc
1 changed files with 15 additions and 14 deletions
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29
calibrate.py
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@ -2,7 +2,7 @@ from time import sleep
import robot import robot
START_VALUES = [60, 60] START_VALUES = [60, 60]
THRESHOLD = 1 THRESHOLD = 1.001
SLEEP_TIME = 2 SLEEP_TIME = 2
def test_forward(arlo, l_power, r_power): def test_forward(arlo, l_power, r_power):
@ -11,8 +11,8 @@ def test_forward(arlo, l_power, r_power):
sleep(SLEEP_TIME) sleep(SLEEP_TIME)
arlo.stop() arlo.stop()
return ( return (
int(arlo.read_left_wheel_encoder()), abs(int(arlo.read_left_wheel_encoder())),
int(arlo.read_right_wheel_encoder()) abs(int(arlo.read_right_wheel_encoder()))
) )
def test_back(arlo, l_power, r_power): def test_back(arlo, l_power, r_power):
@ -21,8 +21,8 @@ def test_back(arlo, l_power, r_power):
sleep(SLEEP_TIME) sleep(SLEEP_TIME)
arlo.stop() arlo.stop()
return ( return (
int(arlo.read_left_wheel_encoder()), abs(int(arlo.read_left_wheel_encoder())),
int(arlo.read_right_wheel_encoder()) abs(int(arlo.read_right_wheel_encoder()))
) )
@ -32,8 +32,8 @@ def test_clockwise(arlo, l_power, r_power):
sleep(SLEEP_TIME) sleep(SLEEP_TIME)
arlo.stop() arlo.stop()
return ( return (
int(arlo.read_left_wheel_encoder()), abs(int(arlo.read_left_wheel_encoder())),
int(arlo.read_right_wheel_encoder()) abs(int(arlo.read_right_wheel_encoder()))
) )
def test_anticlockwise(arlo, l_power, r_power): def test_anticlockwise(arlo, l_power, r_power):
@ -42,8 +42,8 @@ def test_anticlockwise(arlo, l_power, r_power):
sleep(SLEEP_TIME) sleep(SLEEP_TIME)
arlo.stop() arlo.stop()
return ( return (
int(arlo.read_left_wheel_encoder()), abs(int(arlo.read_left_wheel_encoder())),
int(arlo.read_right_wheel_encoder()) abs(int(arlo.read_right_wheel_encoder()))
) )
def main(): def main():
@ -79,18 +79,19 @@ def main():
cpc = 3.14159*15*144 # wheel counts per cm cpc = 3.14159*15*144 # wheel counts per cm
# milliseconds per 10cm forward # milliseconds per 10cm forward
time[0] = (1000 * 10 * cpc)/cps[0] time[0] = int((1000 * 10 * cpc)/cps[0])
# milliseconds per 10cm backwards # milliseconds per 10cm backwards
time[1] = (1000 * 10 * cpc)/cps[1] time[1] = int((1000 * 10 * cpc)/cps[1])
cpr = 3.1415*38 # 1 rotation in cm cpr = 3.1415*38 # 1 rotation in cm
# milliseconds per 10 degrees clockwise # milliseconds per 10 degrees clockwise
time[2] = (1000 * cpc)/(cps[2] * 36) time[2] = int((1000 * cpc)/(cps[2] * 36))
# milliseconds per 10 degrees anticlockwise # milliseconds per 10 degrees anticlockwise
time[3] = (1000 * cpc)/(cps[3] * 36) time[3] = int((1000 * cpc)/(cps[3] * 36))
print(values, time) values_hex = "-".join([".".join([str(i) for i in v]) for v in values])
time_hex = "-".join([str(i) for i in time])