motion test

kuukar/kuukar_collision.py

@@ -1,5 +1,5 @@
 from telemetrix_rpi_pico import telemetrix_rpi_pico
-from kuukar_config import COLLISION_DETECTOR_PIN
+from kuukar.kuukar_config import COLLISION_DETECTOR_PIN
 
 from kuukar_lcd import lcd
 from kuukar_leds import leds

kuukar/kuukar_config.py

@@ -9,14 +9,14 @@ SONAR_3_TRIG_PIN = 4
 SONAR_3_ECHO_PIN = 5
 
 # Motor Pins
-MOTOR_FL_F = 6
+MOTOR_FL_F = 7
-MOTOR_FL_R = 7
+MOTOR_FL_R = 6
 MOTOR_FR_F = 8
 MOTOR_FR_R = 9
 MOTOR_RL_F = 10
 MOTOR_RL_R = 11
-MOTOR_RR_F = 12
+MOTOR_RR_F = 13
-MOTOR_RR_R = 13
+MOTOR_RR_R = 12
 
 # Full Speed 90 Degrees Turn Time
 TURN_TIME_FS_90DEG_MS = 1500

kuukar/kuukar_cv.py

@@ -1,5 +1,5 @@
-from kuukar_lcd import lcd
+from kuukar.kuukar_lcd import lcd
-from kuukar_leds import leds
+from kuukar.kuukar_leds import leds
 
 
 class cv:

kuukar/kuukar_environment.py

@@ -1,8 +1,8 @@
 import threading
 from time import sleep
-from kuukar_lcd import lcd
+from kuukar.kuukar_lcd import lcd
-from kuukar_leds import leds
+from kuukar.kuukar_leds import leds
-from kuukar_sensors import sensors
+from kuukar.kuukar_sensors import sensors
 
 
 class environment:

kuukar/kuukar_lcd.py

@@ -1,4 +1,4 @@
-import kuukar_nextion
+import kuukar.kuukar_nextion as kuukar_nextion
 class lcd:
     def __init__(self) -> None:
         self.nextion = kuukar_nextion.nextion()

kuukar/kuukar_leds.py

@@ -2,7 +2,7 @@ import threading
 from time import perf_counter
 from telemetrix_rpi_pico import telemetrix_rpi_pico
 import time
-from kuukar_config import LEDS_DATA_PIN, LEDS_NUM, HEADLIGHT_LEDS, LEFT_SIGNAL_LEDS, RIGHT_SIGNAL_LEDS, REVERSE_LEDS
+from kuukar.kuukar_config import LEDS_DATA_PIN, LEDS_NUM, HEADLIGHT_LEDS, LEFT_SIGNAL_LEDS, RIGHT_SIGNAL_LEDS, REVERSE_LEDS
 
 
 class leds:

kuukar/kuukar_motion.py

@@ -1,8 +1,8 @@
 from random import randint
-from 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
+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
 import time
-from kuukar_leds import leds
+from kuukar.kuukar_leds import leds
-from kuukar_sensors import sensors
+from kuukar.kuukar_sensors import sensors
 from telemetrix_rpi_pico import telemetrix_rpi_pico
 import threading
 
@@ -15,7 +15,7 @@ class motion:
         self.driver = driver_board
         self.leds = leds
         self.sensors = sensors
-        self.roam_thread = threading.Thread(target=self.roam_loop)
+        self.roam_thread = threading.Thread(target=self.__roam_looper)
         self.roam_thread.start()
 
         drive_pins = [MOTOR_FL_F, MOTOR_FL_R, MOTOR_FR_F,
@@ -48,10 +48,16 @@ class motion:
         self.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
         time.sleep(duration)
         self.stop()
+
+    def turn_cont(self, speed: int):
         if speed > 0:
-            self.leds.set_right_signal_led(False)
+            self.leds.set_right_signal_led(True)
         elif speed < 0:
-            self.leds.set_left_signal_led(False)
+            self.leds.set_left_signal_led(True)
+        self.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
+        self.motor_write(MOTOR_FR_F, MOTOR_FR_R, -speed)
+        self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
+        self.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
 
     def stop(self):
         self.leds.set_left_signal_led(False)

kuukar/kuukar_nextion.py

@@ -2,7 +2,6 @@ import binascii
 from time import sleep
 import serial
 import threading
-
 from kuukar_config import SERIAL_LCD
 
 DATATYPE_NUMBER = '71'

kuukar/kuukar_sensors.py

@@ -1,6 +1,6 @@
 from telemetrix_rpi_pico import telemetrix_rpi_pico
 
-from kuukar_config import DHT22_PIN, SONAR_1_ECHO_PIN, SONAR_1_TRIG_PIN,\
+from kuukar.kuukar_config import DHT22_PIN, SONAR_1_ECHO_PIN, SONAR_1_TRIG_PIN,\
     SONAR_2_ECHO_PIN, SONAR_2_TRIG_PIN, SONAR_3_ECHO_PIN, SONAR_3_TRIG_PIN,\
     LIGHT_ANALOG_PIN
 

kuukar/kuukar_voice.py

@@ -1,7 +1,5 @@
-from kuukar_lcd import lcd
+from kuukar.kuukar_lcd import lcd
-from kuukar_leds import leds
+from kuukar.kuukar_leds import leds
-from kuukar_noise import noise
-
 
 class voice:
     def __init__(self, lcd: lcd, leds: leds) -> None:

test.py

@@ -0,0 +1,28 @@
+import time
+
+from telemetrix_rpi_pico import telemetrix_rpi_pico
+import kuukar.kuukar_motion as kuukar_motion
+import kuukar.kuukar_sensors as kuukar_sensors
+from kuukar.kuukar_config import SERIAL_AUX_BOARD, SERIAL_DRIVER_BOARD
+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
+
+driver_board = telemetrix_rpi_pico.TelemetrixRpiPico()
+motion = kuukar_motion.motion(driver_board, None,  None)
+
+motion.drive(30)
+
+def rot_test():
+    while True:
+        speed = 30
+        motion.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
+        motion.motor_write(MOTOR_FR_F, MOTOR_FR_R, -speed)
+        motion.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
+        motion.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
+        time.sleep(0.5)
+        speed = -speed
+        motion.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)
+        motion.motor_write(MOTOR_FR_F, MOTOR_FR_R, -speed)
+        motion.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
+        motion.motor_write(MOTOR_RR_F, MOTOR_RR_R, -speed)
+        time.sleep(0.5)
+