Ch-10 TR feedback

ch-10/1-proportional-distance-control/code.py

@@ -14,22 +14,22 @@ class PController:
 
 
 ## We'll set up a single distance sensor, and keep a set distance from an object
-robot.left_distance.distance_mode = 1
+robot.right_distance.distance_mode = 1
-robot.left_distance.start_ranging()
+robot.right_distance.start_ranging()
 
 distance_set_point = 10
 distance_controller = PController(-0.1)
 
 while True:
-  if robot.left_distance.data_ready:
+  if robot.right_distance.data_ready:
-    distance = robot.left_distance.distance
+    distance = robot.right_distance.distance
     error = distance_set_point - distance
     speed = distance_controller.calculate(error)
-    if abs(speed) < 0.2:
+    if abs(speed) < 0.3:
       speed = 0
     uart.write(f"{error},{speed}\n".encode())
     print(f"{error},{speed}")
     robot.set_left(speed)
     robot.set_right(speed)
-    robot.left_distance.clear_interrupt()
+    robot.right_distance.clear_interrupt()
     time.sleep(0.05)

ch-10/2-pi-distance-control/code.py

@@ -17,28 +17,28 @@ class PIController:
 
 
 ## We'll set up a single distance sensor, and keep a set distance from an object
-robot.left_distance.distance_mode = 1
+robot.right_distance.distance_mode = 1
-robot.left_distance.start_ranging()
+robot.right_distance.start_ranging()
 
 distance_set_point = 10
 distance_controller = PIController(-0.19, -0.005)
 
 prev_time = time.monotonic()
 while True:
-  if robot.left_distance.data_ready:
+  if robot.right_distance.data_ready:
-    distance = robot.left_distance.distance
+    distance = robot.right_distance.distance
     error = distance_set_point - distance
 
     current_time = time.monotonic()
     speed = distance_controller.calculate(error, current_time - prev_time)
     prev_time = current_time
     # Control the motors with the speed
-    if abs(speed) < 0.35:
+    if abs(speed) < 0.3:
       speed = 0
     uart.write(f"{error},{speed},"
       f"{distance_controller.integral}\n".encode())
     print(f"{error},{speed},{distance_controller.integral}")
     robot.set_left(speed)
     robot.set_right(speed)
-    robot.left_distance.clear_interrupt()
+    robot.right_distance.clear_interrupt()
     time.sleep(0.05)

ch-10/3-damping-with-derivative/code.py

@@ -8,28 +8,28 @@ uart = busio.UART(board.GP12, board.GP13, baudrate=9600)
 
 
 ## We'll set up a single distance sensor, and keep a set distance from an object
-robot.left_distance.distance_mode = 1
+robot.right_distance.distance_mode = 1
-robot.left_distance.start_ranging()
+robot.right_distance.start_ranging()
 
 distance_set_point = 10
 distance_controller = PIDController(-0.09, -0.02, -0.07)
 
 prev_time = time.monotonic()
 while True:
-  if robot.left_distance.data_ready:
+  if robot.right_distance.data_ready:
-    distance = robot.left_distance.distance
+    distance = robot.right_distance.distance
     error = distance_set_point - distance
 
     current_time = time.monotonic()
     speed = distance_controller.calculate(error, current_time - prev_time)
     prev_time = current_time
     # Control the motors with the speed
-    if abs(speed) < 0.35:
+    if abs(speed) < 0.3:
       speed = 0
     uart.write(f"{error},{speed},{distance_controller.integral},{distance_controller.derivative}\n".encode())
     print(f"{error},{speed},{distance_controller.integral},{distance_controller.derivative}")
     robot.set_left(speed)
     robot.set_right(speed)
     # reset the distance sensor
-    robot.left_distance.clear_interrupt()
+    robot.right_distance.clear_interrupt()
     time.sleep(0.05)

ch-10/4-wall-follow/code.py

@@ -25,7 +25,8 @@ while True:
     current_time = time.monotonic()
     deflection = distance_controller.calculate(error, current_time - prev_time)
     prev_time = current_time
-    uart.write(f"{error},{deflection}\n".encode()) # ,{distance_controller.derivative}
+    uart.write(f"{error},{deflection},"
+      f"{distance_controller.derivative}\n".encode())
     if motors_active:
       robot.set_left(speed - deflection)
       robot.set_right(speed + deflection)