ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Sync the robot library

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This commit is contained in:
Danny Staple 2022-07-10 15:47:03 +01:00
parent 8a303ded76
commit 4962501918
2 changed files with 24 additions and 6 deletions
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15
ch-9/4-bluetooth-teleop/robot.py
View File

@ -1,6 +1,9 @@
import board
import pwmio
import pio_encoder
import busio
import adafruit_vl53l1x
motor_A1 = pwmio.PWMOut(board.GP17)
motor_A2 = pwmio.PWMOut(board.GP16)
@ -13,6 +16,12 @@ 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)
i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
left_distance = adafruit_vl53l1x.VL53L1X(i2c0)
right_distance = adafruit_vl53l1x.VL53L1X(i2c1)
def stop():
motor_A1.duty_cycle = 0
@ -21,7 +30,7 @@ def stop():
motor_B2.duty_cycle = 0
def set_speed(motor: tuple, speed: float):
def set_speed(motor, speed):
# Swap motor pins if we reverse the speed
if speed < 0:
direction = motor[1], motor[0]
@ -35,9 +44,9 @@ def set_speed(motor: tuple, speed: float):
direction[1].duty_cycle = 0
def set_left(speed: float):
def set_left(speed):
set_speed(left_motor, speed)
def set_right(speed: float):
def set_right(speed):
set_speed(right_motor, speed)

15
ch-9/5-bluetooth-accelerometer-drive/robot.py
View File

@ -1,6 +1,9 @@
import board
import pwmio
import pio_encoder
import busio
import adafruit_vl53l1x
motor_A1 = pwmio.PWMOut(board.GP17)
motor_A2 = pwmio.PWMOut(board.GP16)
@ -13,6 +16,12 @@ 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)
i2c0 = busio.I2C(sda=board.GP0, scl=board.GP1)
i2c1 = busio.I2C(sda=board.GP2, scl=board.GP3)
left_distance = adafruit_vl53l1x.VL53L1X(i2c0)
right_distance = adafruit_vl53l1x.VL53L1X(i2c1)
def stop():
motor_A1.duty_cycle = 0
@ -21,7 +30,7 @@ def stop():
motor_B2.duty_cycle = 0
def set_speed(motor: tuple, speed: float):
def set_speed(motor, speed):
# Swap motor pins if we reverse the speed
if speed < 0:
direction = motor[1], motor[0]
@ -35,9 +44,9 @@ def set_speed(motor: tuple, speed: float):
direction[1].duty_cycle = 0
def set_left(speed: float):
def set_left(speed):
set_speed(left_motor, speed)
def set_right(speed: float):
def set_right(speed):
set_speed(right_motor, speed)