Michel2/pybricks-projects
1
0
Fork 0
mirror of https://github.com/pybricks/pybricks-projects.git synced 2026-09-15 02:52:41 +00:00
Code Issues Releases Activity

official_models/ev3/tank_bot: fix driving

Browse Source 
This example computed time from length, to then drive for that time. Since there is now simply a function to drive straight for a given distance, use that instead.

Also add wait after drive(0, 0) to give it some time to reach that speed (a standstill).

Also fix ImageFile import
This commit is contained in:
Laurens Valk
2020-04-01 13:31:26 +02:00
committed by laurensvalk
parent 63cf2ec4b5
commit cabe91a044
1 changed files with 34 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
official_models/ev3/education_expansion/tank_bot/main.py
+34 -30
View File
@@ -2,9 +2,10 @@
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import Motor, GyroSensor
from pybricks.parameters import Port, Direction, Button, ImageFile
from pybricks.parameters import Port, Direction, Button
from pybricks.tools import wait
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import ImageFile
# Initialize the EV3 brick.
ev3 = EV3Brick()
@@ -13,7 +14,7 @@ ev3 = EV3Brick()
# counterclockwise, so that positive speed values make the robot move
# forward. These will be the left and right motors of the Tank Bot.
left_motor = Motor(Port.B, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.D, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.C, Direction.COUNTERCLOCKWISE)
# The wheel diameter of the Tank Bot is about 54 mm.
WHEEL_DIAMETER = 54
@@ -32,8 +33,7 @@ robot = DriveBase(left_motor, right_motor, WHEEL_DIAMETER, AXLE_TRACK)
# during start-up of the EV3.
gyro_sensor = GyroSensor(Port.S4)
# Initialize the speed, steering, and overshoot variables.
speed = 250
# Initialize the steering and overshoot variables.
steering = 60
overshoot = 5
@@ -46,53 +46,57 @@ def right_angle():
# Reset the Gyro Sensor angle.
gyro_sensor.reset_angle(0)
# Drive forward for 3 seconds.
robot.drive_time(speed, 0, 3000)
# Drive forward for 750 millimeters
robot.straight(750)
# Turn clockwise until the angle is 90 degrees.
robot.drive(0, steering)
for _ in range(3):
ev3.speaker.beep()
wait(100)
ev3.speaker.beep()
while gyro_sensor.angle() < 90 - overshoot:
wait(1)
robot.drive(0, 0)
wait(1000)
# Drive forward for 3 seconds.
robot.drive_time(speed, 0, 3000)
# Drive forward for 750 millimeters
robot.straight(750)
# Turn clockwise until the angle is 270 degrees.
robot.drive(0, steering)
for _ in range(3):
ev3.speaker.beep()
wait(100)
ev3.speaker.beep()
while gyro_sensor.angle() < 270 - overshoot:
wait(1)
robot.drive(0, 0)
wait(1000)
# Drive forward for 3 seconds.
robot.drive_time(speed, 0, 3000)
# Drive forward for 750 millimeters
robot.straight(750)
# Turn counterclockwise until the angle is 180 degrees.
robot.drive(0, -steering)
for _ in range(3):
ev3.speaker.beep()
wait(100)
ev3.speaker.beep()
while gyro_sensor.angle() > 180 + overshoot:
wait(1)
robot.drive(0, 0)
wait(1000)
# Drive forward for 3 seconds.
robot.drive_time(speed, 0, 3000)
# Drive forward for 750 millimeters
robot.straight(750)
# Turn clockwise until the angle is 360 degrees.
robot.drive(0, steering)
for _ in range(3):
ev3.speaker.beep()
wait(100)
ev3.speaker.beep()
while gyro_sensor.angle() < 360 - overshoot:
wait(1)
robot.drive(0, 0)
wait(1000)
def polygon(sides, length):
@@ -105,23 +109,23 @@ def polygon(sides, length):
# Calculate the angle to turn to and the time to drive straight.
angle = 360 / sides
time = length / speed * 1000
# Drive along the polygon path.
for side in range(1, sides + 1):
target_angle = side * angle - overshoot
# Drive forward.
robot.drive_time(speed, 0, time)
robot.straight(length)
# Turn clockwise until the angle equals the target angle.
robot.drive(0, steering)
for _ in range(3):
ev3.speaker.beep()
wait(100)
while gyro_sensor.angle() < target_angle:
ev3.speaker.beep()
while gyro_sensor.angle() < target_angle - overshoot:
wait(1)
robot.drive(0, 0)
wait(1000)
# This is the main part of the program. It is a loop that repeats