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authorMartin Možina <martin.mozina@fri.uni-lj.si>2015-10-14 18:08:44 +0200
committerMartin Možina <martin.mozina@fri.uni-lj.si>2015-10-14 18:08:44 +0200
commit531bde7a2fe3d643e9b6ffe690405b6cc07c4964 (patch)
tree9fcdd54ec25cacc32cd5aaacfb731c174278fab8 /robot/problems/introduction/rotateback/naloga11_rotateBack_old.py
parent1b936a961e39b2a71b5a773776474446f0c58447 (diff)
parentb1deb24a05a380450ed9dc77c3155a16bd204dfc (diff)
Merge branch 'master' of 192.168.15.97:codeq-problems
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diff --git a/robot/problems/introduction/rotateback/naloga11_rotateBack_old.py b/robot/problems/introduction/rotateback/naloga11_rotateBack_old.py
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+#!/usr/bin/python
+# coding=utf-8
+
+print """
+Naloga 11:
+"""
+
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+# the sensor should be perfectly still while resetting the gyro
+def resetGyro(gyro):
+ gyro.mode = 'GYRO-RATE'
+ gyro.mode = 'GYRO-ANG'
+
+def sgn(x):
+ return -1 if x<0 else (1 if x>0 else 0)
+
+gyro = gyro_sensor()
+assert gyro.connected
+gyro.mode = 'GYRO-ANG'
+
+touch = touch_sensor()
+assert touch.connected
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+smer = hitrost = 0
+resetGyro(gyro)
+prev_smer = -1
+while 1:
+ smer = gyro.value()
+ if smer!=prev_smer:
+ print "Kot:", smer
+ prev_smer = smer
+
+ if touch.value():
+ resetGyro(gyro)
+ print gyro.value()
+
+ if abs(smer) < 10:
+ hitrost = 10*sgn(smer)
+ else:
+ if abs(smer) > 100:
+ hitrost = 100*sgn(smer)
+ else:
+ hitrost = smer
+
+ if abs(smer) > 1:
+ L, R = -hitrost, hitrost
+ else:
+ L = R = 0
+ robot.move_tank('on', lr_power=[L,R])