From 2c90bc7db6dfd47faa909d4b6939ecbfa6ca12a4 Mon Sep 17 00:00:00 2001
From: Kevin Frantz <mail@kevin-frantz.de>
Date: Mon, 17 Apr 2017 19:35:56 +0000
Subject: [PATCH] CM und Degree-Steurung implementiert

---
 __pycache__/motion.cpython-36.pyc | Bin 1573 -> 1846 bytes
 manual_controll.py                |  13 +++++--------
 motion.py                         |  12 +++++++++++-
 3 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/__pycache__/motion.cpython-36.pyc b/__pycache__/motion.cpython-36.pyc
index eddef263738036f4a9c6f16259f7e85530aed04f..c55e4cb00caed73c5ec9a1747bec96ce9792ae96 100644
GIT binary patch
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delta 609
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diff --git a/manual_controll.py b/manual_controll.py
index 3d507fc..f872452 100644
--- a/manual_controll.py
+++ b/manual_controll.py
@@ -49,10 +49,6 @@ def autopilot():
 			sleep(0.5);
 	except KeyboardInterrupt:
 		print("Verlasse Autopilot...")
-def turnDegree():
-	#degree = input();
-	core.turnDegree(90);
-	return;
 def doIt(order):
 	switcher = {
         	'w': lambda: core.forward(),
@@ -63,7 +59,8 @@ def doIt(order):
 		'i': lambda: core.printValues(),
 		'h': lambda: help(),
 		'q': lambda: autopilot(),
-		'x': lambda: turnDegree(),
+		'x': lambda: core.turnDegree(int(input("Grad:"))),
+		'w': lambda: core.runCm(int(input("cm:"))),
 	}
 	func = switcher.get(order, lambda: print("Der gewuenschte Befehl steht nicht zur Verfuegung"))
 	return func();
@@ -71,9 +68,9 @@ print("Herzlich Willkommen im manuellen Controll-Interface!\n")
 try:	
 	while True:
 		core.setSensorValues()
-		input=getch.getch();
-		print("Erinaco>>{0}".format(input))
-		doIt(input);
+		modus=getch.getch();
+		print("Erinaco>>{0}".format(modus))		
+		doIt(modus);
 except KeyboardInterrupt:
 	print("Verlasse Erinaco...")
 	core.__del__();
diff --git a/motion.py b/motion.py
index 598645d..3c96519 100644
--- a/motion.py
+++ b/motion.py
@@ -10,6 +10,7 @@ class Motion(object):
 		self.motorRight=MOTOR(23,18,1) #Initialisierung des linken Motors
 		self.motorLeft=MOTOR(24,25,0) #Initialisierung des rechten Motors
 		self.FULLTURNTIME=4.5; #Dauer welche fuer eine 360 Grad wendebenoetigt wird in Sekunden        
+		self.SEKPERMETER=6.9;
 	def turnLeft(self):
 		self.motorRight.forward()
 		self.motorLeft.backward()
@@ -25,9 +26,18 @@ class Motion(object):
 	def stop(self):
 		self.motorRight.stop()
 		self.motorLeft.stop()
+	def runCm(self,cm):
+		if cm<0:
+			self.backward();
+			cm=cm*-1;		
+		else:
+			self.forward();
+		sleep((self.SEKPERMETER/100)*cm);
+		self.stop();
 	def turnDegree(self,degree):
 		if degree<0:
-			self.turnLeft();		
+			self.turnLeft();
+			degree=degree*-1;		
 		else:
 			self.turnRight();
 		sleep((self.FULLTURNTIME/360)*degree);