ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Instrumented version - to look at timings

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Including:
- replacing guassian with simpler triangle distribution
- Timing calculations -resulting in using only 50 points.
- Changes (which may need to be reconsidered) for optimization. These are likely to be simplified back.
This commit is contained in:
Danny Staple
2022-12-11 20:44:50 +00:00
parent 46daf66024
commit f57add5106
12 changed files with 534 additions and 104 deletions
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ch-13/full-version/robot/robot.py
+3 -2
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@@ -14,9 +14,10 @@ wheel_circumference_mm = math.pi * wheel_diameter_mm
gear_ratio = 298
encoder_poles = 28
ticks_per_revolution = encoder_poles * gear_ratio
ticks_to_m = (wheel_circumference_mm / ticks_per_revolution) / 1000
ticks_to_mm = wheel_circumference_mm / ticks_per_revolution
ticks_to_m = ticks_to_mm / 1000
m_to_ticks = 1 / ticks_to_m
wheelbase_mm = 170
motor_A2 = pwmio.PWMOut(board.GP17, frequency=100)
motor_A1 = pwmio.PWMOut(board.GP16, frequency=100)