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 15:49:32 +07:00
parent 6318032820
commit edad44b715
1 changed files with 10 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
kuukar/kuukar_motion.py
View File

@ -93,15 +93,17 @@ class motion:
turn *=100
leftSpeed = speed - turn
rightSpeed = speed + turn
if leftSpeed>100: leftSpeed=100
elif leftSpeed<-100: leftSpeed= -100
if rightSpeed>100: rightSpeed=100
elif rightSpeed<-100: rightSpeed= -100
if speed>100: speed=100
elif speed<-100: speed= -100
if leftSpeed>990: leftSpeed=990
elif leftSpeed<-990: leftSpeed= -990
if rightSpeed>990: rightSpeed=990
elif rightSpeed<-990: rightSpeed= -990
if speed>990: speed=990
elif speed<-990: speed= -990
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_FL_F, MOTOR_FL_R, abs(leftSpeed/10))
self.motor_write(MOTOR_FR_F, MOTOR_FR_R, abs(rightSpeed/10))
self.motor_write(MOTOR_RL_F, MOTOR_RL_R, speed/10)
self.motor_write(MOTOR_RR_F, MOTOR_RR_R, speed/10)