ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Sync the robot library

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
ch-9/4-bluetooth-teleop/robot.py
+12 -3
View File
@@ -1,6 +1,9 @@
import board import board
import pwmio import pwmio
import pio_encoder import pio_encoder
import busio
import adafruit_vl53l1x
motor_A1 = pwmio.PWMOut(board.GP17) motor_A1 = pwmio.PWMOut(board.GP17)
motor_A2 = pwmio.PWMOut(board.GP16) 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) right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True)
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27) 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(): def stop():
motor_A1.duty_cycle = 0 motor_A1.duty_cycle = 0
@@ -21,7 +30,7 @@ def stop():
motor_B2.duty_cycle = 0 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 # Swap motor pins if we reverse the speed
if speed < 0: if speed < 0:
direction = motor[1], motor[0] direction = motor[1], motor[0]
@@ -35,9 +44,9 @@ def set_speed(motor: tuple, speed: float):
direction[1].duty_cycle = 0 direction[1].duty_cycle = 0
def set_left(speed: float): def set_left(speed):
set_speed(left_motor, speed) set_speed(left_motor, speed)
def set_right(speed: float): def set_right(speed):
set_speed(right_motor, speed) set_speed(right_motor, speed)
ch-9/5-bluetooth-accelerometer-drive/robot.py
+12 -3
View File
@@ -1,6 +1,9 @@
import board import board
import pwmio import pwmio
import pio_encoder import pio_encoder
import busio
import adafruit_vl53l1x
motor_A1 = pwmio.PWMOut(board.GP17) motor_A1 = pwmio.PWMOut(board.GP17)
motor_A2 = pwmio.PWMOut(board.GP16) 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) right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True)
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27) 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(): def stop():
motor_A1.duty_cycle = 0 motor_A1.duty_cycle = 0
@@ -21,7 +30,7 @@ def stop():
motor_B2.duty_cycle = 0 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 # Swap motor pins if we reverse the speed
if speed < 0: if speed < 0:
direction = motor[1], motor[0] direction = motor[1], motor[0]
@@ -35,9 +44,9 @@ def set_speed(motor: tuple, speed: float):
direction[1].duty_cycle = 0 direction[1].duty_cycle = 0
def set_left(speed: float): def set_left(speed):
set_speed(left_motor, speed) set_speed(left_motor, speed)
def set_right(speed: float): def set_right(speed):
set_speed(right_motor, speed) set_speed(right_motor, speed)