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drive.py
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drive.py
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# mecanum wheel control interface
import sys
sys.path.append('./aeac_controls_2022/')
from constants import ACCEL_MULTIPLIER
def setMotorTargets(left_vrx, left_vry, right_vrx, target_pololu, debug=False):
# VRY = Throttle
# VRX = Steering
# set target forward/back for throttle
target_pololu[1] -= left_vry * ACCEL_MULTIPLIER
target_pololu[2] += left_vry * ACCEL_MULTIPLIER
target_pololu[3] -= left_vry * ACCEL_MULTIPLIER
target_pololu[4] -= left_vry * ACCEL_MULTIPLIER
if left_vrx > 0.0:
# move right - decrease right motors speed, increase left
target_pololu[1] += left_vrx * ACCEL_MULTIPLIER #FR
target_pololu[2] -= left_vrx * ACCEL_MULTIPLIER #RR
target_pololu[3] -= left_vrx * ACCEL_MULTIPLIER #FL
target_pololu[4] -= left_vrx * ACCEL_MULTIPLIER #RL
if left_vrx < 0.0:
# move left - decrease left motors speed, increase right
target_pololu[1] += left_vrx * ACCEL_MULTIPLIER #FR
target_pololu[2] -= left_vrx * ACCEL_MULTIPLIER #RR
target_pololu[3] -= left_vrx * ACCEL_MULTIPLIER #FL
target_pololu[4] -= left_vrx * ACCEL_MULTIPLIER #RL
# DIFFERENTIAL DRIVE TEST
# if left_vry >= 0.0:
# if left_vrx > 0.0:
# # move right - decrease right motors speed, increase left
# target_pololu[1] += (1.0 - left_vrx) * ACCEL_MULTIPLIER #FR
# target_pololu[2] -= (1.0 - left_vrx) * ACCEL_MULTIPLIER #RR
# target_pololu[3] -= 1.0 * ACCEL_MULTIPLIER #FL
# target_pololu[4] -= 1.0 * ACCEL_MULTIPLIER #RL
# if left_vrx < 0.0:
# # move left - decrease left motors speed, increase right
# target_pololu[1] += 1.0 * ACCEL_MULTIPLIER #FR
# target_pololu[2] -= 1.0 * ACCEL_MULTIPLIER #RR
# target_pololu[3] -= (1.0 + left_vrx) * ACCEL_MULTIPLIER #FL
# target_pololu[4] -= (1.0 + left_vrx) * ACCEL_MULTIPLIER #RL
# else:
# if left_vrx > 0.0:
# # move right - decrease right motors speed, increase left
# target_pololu[1] += 1.0 * ACCEL_MULTIPLIER #FR
# target_pololu[2] -= 1.0 * ACCEL_MULTIPLIER #RR
# target_pololu[3] -= (1.0 - left_vrx) * ACCEL_MULTIPLIER #FL
# target_pololu[4] -= (1.0 - left_vrx) * ACCEL_MULTIPLIER #RL
# if left_vrx < 0.0:
# # move left - decrease left motors speed, increase right
# target_pololu[1] += (1.0 + left_vrx) * ACCEL_MULTIPLIER #FR
# target_pololu[2] -= (1.0 + left_vrx) * ACCEL_MULTIPLIER #RR
# target_pololu[3] -= 1.0 * ACCEL_MULTIPLIER #FL
# target_pololu[4] -= 1.0 * ACCEL_MULTIPLIER #RL
return target_pololu
# def setSpinMotorTargets(trigger_l, trigger_r, target_pololu):
# if trigger_l > 0.2:
# print("spin left")
# # spin left (-+-+)
# target_pololu[1] -= trigger_l
# target_pololu[2] += trigger_l
# target_pololu[3] -= trigger_l
# target_pololu[4] += trigger_l
# elif trigger_r > 0.2:
# print("spin right")
# # spin left (+-+-)
# target_pololu[1] += trigger_r
# target_pololu[2] -= trigger_r
# target_pololu[3] += trigger_r
# target_pololu[4] -= trigger_r
# return target_pololu