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Update kuukar_motion.py

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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
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11
kuukar/kuukar_motion.py
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@ -100,6 +100,17 @@ class motion:
if speed>99: speed=99 if speed>99: speed=99
elif speed<-99: speed= -99 elif speed<-99: speed= -99
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_FL_F, MOTOR_FL_R, abs(leftSpeed))
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)