29 lines
1.1 KiB
Python
29 lines
1.1 KiB
Python
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import time
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from telemetrix_rpi_pico import telemetrix_rpi_pico
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import kuukar.kuukar_motion as kuukar_motion
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import kuukar.kuukar_sensors as kuukar_sensors
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from kuukar.kuukar_config import SERIAL_AUX_BOARD, SERIAL_DRIVER_BOARD
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from kuukar.kuukar_config import MOTOR_FL_F, MOTOR_FL_R, MOTOR_FR_F, MOTOR_FR_R, MOTOR_RL_F, MOTOR_RL_R, MOTOR_RR_F, MOTOR_RR_R, TURN_TIME_FS_90DEG_MS
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driver_board = telemetrix_rpi_pico.TelemetrixRpiPico()
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motion = kuukar_motion.motion(driver_board, None, None)
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motion.drive(30)
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def rot_test():
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while True:
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speed = 30
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motion.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
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motion.motor_write(MOTOR_FR_F, MOTOR_FR_R, -speed)
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motion.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
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motion.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
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time.sleep(0.5)
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speed = -speed
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motion.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
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motion.motor_write(MOTOR_FR_F, MOTOR_FR_R, -speed)
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motion.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
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motion.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
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time.sleep(0.5)
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