ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Ch-5 clean

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This commit is contained in:
Danny Staple 2022-03-20 22:24:56 +00:00
parent 5c4ecaeb13
commit 481cac28de
8 changed files with 14 additions and 9 deletions
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1
ch-5/1-tests/robot.py
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@ -12,6 +12,7 @@ motor_A2.direction = digitalio.Direction.OUTPUT
motor_B1.direction = digitalio.Direction.OUTPUT motor_B1.direction = digitalio.Direction.OUTPUT
motor_B2.direction = digitalio.Direction.OUTPUT motor_B2.direction = digitalio.Direction.OUTPUT
def stop(): def stop():
motor_A1.value = False motor_A1.value = False
motor_A2.value = False motor_A2.value = False

1
ch-5/2-forward-back/robot.py
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@ -12,6 +12,7 @@ motor_A2.direction = digitalio.Direction.OUTPUT
motor_B1.direction = digitalio.Direction.OUTPUT motor_B1.direction = digitalio.Direction.OUTPUT
motor_B2.direction = digitalio.Direction.OUTPUT motor_B2.direction = digitalio.Direction.OUTPUT
def stop(): def stop():
motor_A1.value = False motor_A1.value = False
motor_A2.value = False motor_A2.value = False

1
ch-5/3-turning/robot.py
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@ -12,6 +12,7 @@ motor_A2.direction = digitalio.Direction.OUTPUT
motor_B1.direction = digitalio.Direction.OUTPUT motor_B1.direction = digitalio.Direction.OUTPUT
motor_B2.direction = digitalio.Direction.OUTPUT motor_B2.direction = digitalio.Direction.OUTPUT
def stop(): def stop():
motor_A1.value = False motor_A1.value = False
motor_A2.value = False motor_A2.value = False

2
ch-5/4-pwm/motors_convert_speed.py
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@ -1,7 +1,7 @@
import time import time
import robot import robot
max_speed = 2**16-1 max_speed = 2 ** 16 - 1
robot.motor_A1.duty_cycle = int(0.8 * max_speed) robot.motor_A1.duty_cycle = int(0.8 * max_speed)
time.sleep(0.3) time.sleep(0.3)

4
ch-5/4-pwm/motors_pwm_drive_slower.py
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@ -4,8 +4,8 @@ import pwmio
A1_PWM = pwmio.PWMOut(board.GP17) A1_PWM = pwmio.PWMOut(board.GP17)
A1_PWM.duty_cycle = 2**16-1 A1_PWM.duty_cycle = 2 ** 16 - 1
time.sleep(0.3) time.sleep(0.3)
A1_PWM.duty_cycle = 2**15 A1_PWM.duty_cycle = 2 ** 15
time.sleep(0.3) time.sleep(0.3)
A1_PWM.duty_cycle = 0 A1_PWM.duty_cycle = 0

4
ch-5/4-pwm/motors_pwm_multispeed.py
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@ -3,8 +3,8 @@ import robot
try: try:
for speed in range(5, 10): for speed in range(5, 10):
robot.set_left(speed/10) robot.set_left(speed / 10)
robot.set_right(speed/10) robot.set_right(speed / 10)
time.sleep(0.3) time.sleep(0.3)
finally: finally:
robot.stop() robot.stop()

4
ch-5/5-path/pwm_drive_square.py
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@ -1,20 +1,22 @@
import time import time
import robot import robot
def straight(speed, duration): def straight(speed, duration):
robot.set_left(speed) robot.set_left(speed)
robot.set_right(speed) robot.set_right(speed)
time.sleep(duration) time.sleep(duration)
def left(speed, duration): def left(speed, duration):
robot.set_left(0) robot.set_left(0)
robot.set_right(speed) robot.set_right(speed)
time.sleep(duration) time.sleep(duration)
try: try:
for n in range(0, 4): for n in range(0, 4):
straight(0.6, 1.0) straight(0.6, 1.0)
left(0.6, 1) left(0.6, 1)
finally: finally:
robot.stop() robot.stop()

4
ch-5/5-path/robot.py
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@ -8,7 +8,7 @@ motor_B2 = pwmio.PWMOut(board.GP19)
right_motor = motor_A1, motor_A2 right_motor = motor_A1, motor_A2
left_motor = motor_B1, motor_B2 left_motor = motor_B1, motor_B2
max_speed = 2**16-1 max_speed = 2 ** 16 - 1
def stop(): def stop():
@ -25,7 +25,7 @@ def set_speed(motor, speed):
speed = -speed speed = -speed
else: else:
direction = motor direction = motor
speed = min(speed, 1) # limit to 1.0 speed = min(speed, 1) # limit to 1.0
direction[0].duty_cycle = int(max_speed * speed) direction[0].duty_cycle = int(max_speed * speed)
direction[1].duty_cycle = 0 direction[1].duty_cycle = 0