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drive.py
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drive.py
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from kipr import msleep, motor_power, analog_et, get_motor_position_counter, \
clear_motor_position_counter, gyro_z
from time import time
import constants as c
import utilities as u
# clockwise is positive
gyro_offset = 0
def calibrate_gyro():
global gyro_offset
s = 0
for _ in range(100):
s += gyro_z()
msleep(10)
gyro_offset = s / 100
def get_gyro():
return gyro_z() - gyro_offset
def blind(l_speed: int, r_speed: int):
motor_power(c.RIGHT_MOTOR, r_speed)
motor_power(c.LEFT_MOTOR, l_speed)
def time_straight(power, drive_time, freeze=True):
"""
:param power: range -100 to 100
:param drive_time: milliseconds
:param freeze: True stops motors at end
"""
end_time = time() + (drive_time / 1000)
clear_motor_position_counter(c.LEFT_MOTOR)
clear_motor_position_counter(c.RIGHT_MOTOR)
blind(power, power)
p = 0.25
i = 0.04
l_speed = power
r_speed = power
total_left = 0
total_right = 0
while time() < end_time:
clear_motor_position_counter(c.LEFT_MOTOR)
clear_motor_position_counter(c.RIGHT_MOTOR)
msleep(50)
l_position = abs(get_motor_position_counter(c.LEFT_MOTOR)) # abs to account for negative power
r_position = abs(get_motor_position_counter(c.RIGHT_MOTOR))
total_left += l_position
total_right += r_position
p_error = (r_position * c.F - l_position)
i_error = total_right * c.F - total_left
if power > 0:
l_speed += int(p * p_error + i * i_error)
r_speed -= int(p * p_error + i * i_error)
else:
l_speed -= int(p * p_error + i * i_error)
r_speed += int(p * p_error + i * i_error)
blind(l_speed, r_speed)
if freeze:
u.freeze_bot()
else:
pass
def distance_straight(power, inches, freeze=True, bias=0):
"""
:param power: range -100 to 100
:param inches: inches
:param freeze: True stops motors at end
"""
clear_motor_position_counter(c.LEFT_MOTOR)
clear_motor_position_counter(c.RIGHT_MOTOR)
blind(power, power)
distance = inches * 180.0
F = c.F + bias
p = 0.25
i = 0.04
l_speed = power
r_speed = power
total_left = 0
total_right = 0
while (total_left + total_right) / 2 < distance:
clear_motor_position_counter(c.LEFT_MOTOR)
clear_motor_position_counter(c.RIGHT_MOTOR)
msleep(50)
l_position = abs(get_motor_position_counter(c.LEFT_MOTOR)) # abs to account for negative power
r_position = abs(get_motor_position_counter(c.RIGHT_MOTOR))
total_left += l_position
total_right += r_position
p_error = (r_position * F - l_position)
i_error = total_right * F - total_left
if power > 0:
l_speed += int(p * p_error + i * i_error)
r_speed -= int(p * p_error + i * i_error)
else:
l_speed -= int(p * p_error + i * i_error)
r_speed += int(p * p_error + i * i_error)
blind(l_speed, r_speed)
if freeze:
u.freeze_bot()
else:
pass
def until_line(power, sensor=c.BACK_TOPHAT, freeze=True, bias=0):
clear_motor_position_counter(c.LEFT_MOTOR)
clear_motor_position_counter(c.RIGHT_MOTOR)
blind(power, power)
p = 0.25
i = 0.04
l_speed = power
r_speed = power
total_left = 0
total_right = 0
F = c.F + bias
if power > 0:
while analog_et(sensor) < c.BLACK:
clear_motor_position_counter(c.LEFT_MOTOR)
clear_motor_position_counter(c.RIGHT_MOTOR)
msleep(50)
l_position = abs(get_motor_position_counter(c.LEFT_MOTOR)) # abs to account for negative power
r_position = abs(get_motor_position_counter(c.RIGHT_MOTOR))
total_left += l_position
total_right += r_position
p_error = (r_position * F - l_position)
i_error = total_right * F - total_left
l_speed += int(p * p_error + i * i_error)
r_speed -= int(p * p_error + i * i_error)
blind(l_speed, r_speed)
else:
while analog_et(sensor) < c.BLACK:
clear_motor_position_counter(c.LEFT_MOTOR)
clear_motor_position_counter(c.RIGHT_MOTOR)
msleep(50)
l_position = abs(get_motor_position_counter(c.LEFT_MOTOR)) # abs to account for negative power
r_position = abs(get_motor_position_counter(c.RIGHT_MOTOR))
total_left += l_position
total_right += r_position
p_error = (r_position * F - l_position)
i_error = total_right * F - total_left
# print(l_position, r_position, p_error)
# print(total_left, total_right)
l_speed -= int(p * p_error + i * i_error)
r_speed += int(p * p_error + i * i_error)
# print(l_speed, r_speed)
blind(l_speed, r_speed)
if freeze:
u.freeze_bot()
def pivot(power, angle, stationary_wheel):
"""
:param power: range -100 to 100
:param angle: degrees
:param stationary_wheel: "l" for left or "r" for right
"""
clear_motor_position_counter(c.LEFT_MOTOR)
clear_motor_position_counter(c.RIGHT_MOTOR)
arc_length = (angle * 12 * c.PI) * 180 / 360
print("arc length", arc_length)
speed = power
total_left = 0
total_right = 0
while total_right < arc_length and total_left < arc_length:
clear_motor_position_counter(c.LEFT_MOTOR)
clear_motor_position_counter(c.RIGHT_MOTOR)
msleep(50)
l_position = abs(get_motor_position_counter(c.LEFT_MOTOR)) # abs to account for negative power
r_position = abs(get_motor_position_counter(c.RIGHT_MOTOR))
total_left += l_position
total_right += r_position
if stationary_wheel == "l":
blind(0, speed)
if stationary_wheel == "r":
blind(speed, 0)
u.freeze_bot()
def gyro_pivot(speed, angle, non_moving_tire):
a = 0
pt = time()
if non_moving_tire == "r":
blind(speed, 0)
else:
blind(0, speed)
while abs(a) < abs(angle):
now = time()
dt = now - pt
a += abs(get_gyro()) * dt / 8
pt = now
u.freeze_bot()
def gyro_pivot_precise(speed, angle, non_moving_tire):
a = 0
pt = time()
if non_moving_tire == "r":
blind(speed, 0)
else:
blind(0, speed)
while abs(a) < abs(angle):
now = time()
dt = now - pt
a += abs(get_gyro()) * dt / 8
pt = now
u.freeze_bot()
end = time() + 0.250
while time() < end:
now = time()
dt = now - pt
a += abs(get_gyro()) * dt / 8
pt = now
while abs(a) > abs(angle): # new code
print("in second loop", a)
pt = time()
if non_moving_tire == "r":
blind(-speed, 0)
print("drivin")
else:
blind(0, -speed)
now = time()
dt = now - pt
a -= abs(get_gyro()) * dt / 8
pt = now
u.freeze_bot()
def self_test():
print("testing motors")
distance_straight(80, 5)
msleep(250)
distance_straight(-80, 5)
msleep(250)
gyro_pivot(-80, 45, "l")
msleep(250)
gyro_pivot(-80, 45, "r")
msleep(250)
until_line(-80, c.FRONT_TOPHAT)
msleep(250)
until_line(80, c.BACK_TOPHAT)
msleep(250)
print("done testing motors")