NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-19 15:19:28 +02:00
parent 7fe13aae33
commit c3db7934ca
1 changed files with 7 additions and 6 deletions
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13
calibrate.py
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@ -2,12 +2,13 @@ from time import sleep
import robot import robot
START_VALUES = [50, 50] START_VALUES = [50, 50]
THRESHOLD = 1.01 THRESHOLD = 1.005
SLEEP_TIME = 2
def test_forward(arlo, l_power, r_power): def test_forward(arlo, l_power, r_power):
arlo.reset_encoder_counts() arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 1, 1) arlo.go_diff(l_power, r_power, 1, 1)
sleep(1) sleep(SLEEP_TIME)
arlo.stop() arlo.stop()
return ( return (
int(arlo.read_left_wheel_encoder()), int(arlo.read_left_wheel_encoder()),
@ -17,7 +18,7 @@ def test_forward(arlo, l_power, r_power):
def test_back(arlo, l_power, r_power): def test_back(arlo, l_power, r_power):
arlo.reset_encoder_counts() arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 0, 0) arlo.go_diff(l_power, r_power, 0, 0)
sleep(1) sleep(SLEEP_TIME)
arlo.stop() arlo.stop()
return ( return (
int(arlo.read_left_wheel_encoder()), int(arlo.read_left_wheel_encoder()),
@ -28,7 +29,7 @@ def test_back(arlo, l_power, r_power):
def test_clockwise(arlo, l_power, r_power): def test_clockwise(arlo, l_power, r_power):
arlo.reset_encoder_counts() arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 1, 0) arlo.go_diff(l_power, r_power, 1, 0)
sleep(1) sleep(SLEEP_TIME)
arlo.stop() arlo.stop()
return ( return (
int(arlo.read_left_wheel_encoder()), int(arlo.read_left_wheel_encoder()),
@ -38,7 +39,7 @@ def test_clockwise(arlo, l_power, r_power):
def test_anticlockwise(arlo, l_power, r_power): def test_anticlockwise(arlo, l_power, r_power):
arlo.reset_encoder_counts() arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 0, 1) arlo.go_diff(l_power, r_power, 0, 1)
sleep(1) sleep(SLEEP_TIME)
arlo.stop() arlo.stop()
return ( return (
int(arlo.read_left_wheel_encoder()), int(arlo.read_left_wheel_encoder()),
@ -46,7 +47,7 @@ def test_anticlockwise(arlo, l_power, r_power):
) )
def main(): def main():
values = [START_VALUES for _ in range(4)] values = [START_VALUES.copy() for _ in range(4)]
calibrated = [False for _ in range(4)] calibrated = [False for _ in range(4)]
tests = [ tests = [
test_forward, test_forward,