Ch-6 clean

2022-03-20 22:27:49 +00:00
parent 481cac28de
commit 36240090bf
19 changed files with 71 additions and 92 deletions
@@ -13,12 +13,14 @@ left_motor = motor_B1, motor_B2
 right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True)
 left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)

+
 def stop():
    motor_A1.duty_cycle = 0
    motor_A2.duty_cycle = 0
    motor_B1.duty_cycle = 0
    motor_B2.duty_cycle = 0

+
 def set_speed(motor, speed):
    # Swap motor pins if we reverse the speed
    if speed < 0:
@@ -26,15 +28,16 @@ def set_speed(motor, speed):
        speed = -speed
    else:
        direction = motor
-    speed = min(speed, 1) # limit to 1.0
-    max_speed = 2**16-1
-
+    speed = min(speed, 1)  # limit to 1.0
+    max_speed = 2 ** 16 - 1

    direction[0].duty_cycle = int(max_speed * speed)
    direction[1].duty_cycle = 0

+
 def set_left(speed):
    set_speed(left_motor, speed)

+
 def set_right(speed):
    set_speed(right_motor, speed)