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drive.py
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drive.py
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from ev3dev.auto import *
class Drive:
SPD = 300 / 90
MOTOR_LEFT = OUTPUT_A
MOTOR_RIGHT = OUTPUT_B
DIRECTION_LEFT = 0
DIRECTION_RIGHT = 1
def __init__(self):
self.m_left = Motor(Drive.MOTOR_LEFT)
self.m_right = Motor(Drive.MOTOR_RIGHT)
def drive_forward(self, length):
speed = 600
s_time = (length / int(22*(600/360))) * 1000
self.m_left.run_timed(time_sp=s_time, speed_sp=speed, stop_action="brake")
self.m_right.run_timed(time_sp=s_time, speed_sp=speed + 1, stop_action="brake")
time.sleep(s_time / 1000)
def reverse(self, length):
speed = 360
s_time = (length / 22) * 1000
self.m_left.run_timed(time_sp=s_time, speed_sp=-speed, stop_action="brake")
self.m_right.run_timed(time_sp=s_time, speed_sp=-speed, stop_action="brake")
time.sleep(s_time / 1000)
# direction: 0 = Left, 1 = Right
def turn(self, direction, degrees):
if direction == Drive.DIRECTION_LEFT:
self.m_left.stop()
self.m_right.run_to_rel_pos(position_sp=Drive.SPD*degrees, speed_sp=400, stop_action="brake")
elif direction == Drive.DIRECTION_RIGHT:
self.m_right.stop()
self.m_left.run_to_rel_pos(position_sp=Drive.SPD*degrees, speed_sp=400, stop_action="brake")
time.sleep(2)
def drive_continuous(self):
self.m_left.run_forever(speed_sp=600)
self.m_right.run_forever(speed_sp=601)
def stop(self):
self.m_left.stop()
self.m_right.stop()
if __name__ == '__main__':
drive = Drive()
drive.drive_forward(11)
# time.sleep(2)
# drive.turn(Drive.DIRECTION_LEFT, 180)
# time.sleep(2)
# drive.turn(Drive.DIRECTION_RIGHT, 360)