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kuukar-rpi
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Update kuukar_motion.py

This commit is contained in:
Siwat Sirichai 2022-12-10 17:09:04 +07:00
parent abb2cffb19
commit 495a233594
1 changed files with 20 additions and 1 deletions
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19
kuukar/kuukar_motion.py
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@ -88,6 +88,7 @@ class motion:
self.motor_write(MOTOR_RL_F, MOTOR_RL_R, lm_speed) self.motor_write(MOTOR_RL_F, MOTOR_RL_R, lm_speed)
self.motor_write(MOTOR_RR_F, MOTOR_RR_R, rm_speed) self.motor_write(MOTOR_RR_F, MOTOR_RR_R, rm_speed)
'''
def skt_drive(self, speed: float, turn: float, t=0): def skt_drive(self, speed: float, turn: float, t=0):
speed *=100 speed *=100
turn *=100 turn *=100
@ -115,6 +116,24 @@ class motion:
self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed)) self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed))
self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed) self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed) self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
'''
def skt_drive(self, speed: float, turn: float, t=0):
speed *=100
turn *=100
leftSpeed = speed - turn
rightSpeed = speed + turn
if leftSpeed>99: leftSpeed=99
elif leftSpeed<-99: leftSpeed= -99
if rightSpeed>99: rightSpeed=99
elif rightSpeed<-99: rightSpeed= -99
if speed>99: speed=99
elif speed<-99: speed= -99
self.motor_write(MOTOR_FL_F, MOTOR_FL_R, abs(leftSpeed))
self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed))
##self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
##self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)