Funktionen drehe angepasst, fahre_gerade_aus hinzugefügt
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1 changed files with 37 additions and 3 deletions
38
iqrobot.py
38
iqrobot.py
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@ -87,13 +87,25 @@ class IQRobot:
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def drehe(self, grad=90, with_reset=True):
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def drehe(self, grad=90, with_reset=True):
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if grad == 0 or grad == 360 :
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print("nichts zu tun")
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return
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if with_reset:
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if with_reset:
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self.motionSensor.reset_yaw_angle()
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self.motionSensor.reset_yaw_angle()
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steering = 100 if grad > 0 else -100
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#steering = 100 if grad > 0 else -100
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toleranz = 0
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aktuell = self.motionSensor.get_yaw_angle()
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ziel = grad
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steering = 100 if ziel > aktuell else -100
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self.movementMotors.start(steering=steering, speed=10)
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self.movementMotors.start(steering=steering, speed=10)
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while abs(self.motionSensor.get_yaw_angle()) < abs(grad):
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differenz = ziel - aktuell
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print ("Start Ziel: {}, Aktuell: {}".format(ziel, aktuell))
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while abs(differenz) > toleranz :
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aktuell = self.motionSensor.get_yaw_angle()
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differenz = ziel - aktuell
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pass
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pass
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self.movementMotors.stop()
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self.movementMotors.stop()
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print ("Final Ziel: {}, Aktuell: {}".format(ziel, aktuell))
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def fahre_gerade(self, cm):
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def fahre_gerade(self, cm):
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@ -129,7 +141,29 @@ class IQRobot:
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self.drehe(grad)
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self.drehe(grad)
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self.fahre_gerade_geregelt(strecke2 - self.abstand_rad_front)
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self.fahre_gerade_geregelt(strecke2 - self.abstand_rad_front)
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def fahre_gerade_aus(self, cm,speed):
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self.motionSensor.reset_yaw_angle()
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self.movementMotors.move_tank(amount=cm,left_speed=speed, right_speed=speed)
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drehung = self.motionSensor.get_yaw_angle()
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print(drehung)
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if drehung > 0:
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richtung = -1
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else:
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richtung = 1
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while abs(drehung) > 2:
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self.movementMotors.move(amount=richtung * 0.1, steering=100)
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drehung = self.motionSensor.get_yaw_angle()
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print(drehung)
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print("successfully loaded the IQ Lego teams code :)")
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print("successfully loaded the IQ Lego teams code :)")
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