project-KuuKar
/
kuukar-rpi
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Update kuukar_motion.py

This commit is contained in:
Siwat Sirichai 2022-12-10 16:30:42 +07:00
parent c49f940ca0
commit e615010ce7
1 changed files with 15 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
kuukar/kuukar_motion.py
View File

@ -100,10 +100,21 @@ class motion:
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)
if (rightSpeed - leftSpeed) > 0:
self.motor_write(MOTOR_FL_F, MOTOR_FL_R, -1*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)
elif (rightSpeed - leftSpeed) < 0:
self.motor_write(MOTOR_FL_F, MOTOR_FL_R, abs(leftSpeed))
self.motor_write(MOTOR_FR_F, MOTOR_FR_R, -1*abs(rightSpeed))
self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed)
self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed)
else:
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)