From 62bf65aa3324b8ef8db7ad63266fb37ebf07ba30 Mon Sep 17 00:00:00 2001
From: Kevin Frantz <mail@kevin-frantz.de>
Date: Mon, 17 Apr 2017 18:51:13 +0000
Subject: [PATCH] turnDegree-Funktion hinzugefuegt

---
 __pycache__/motion.cpython-36.pyc | Bin 1291 -> 1573 bytes
 autopilot.py                      |   1 -
 manual_controll.py                |   5 ++++
 motion.py                         |  47 +++++++++++++++++-------------
 4 files changed, 32 insertions(+), 21 deletions(-)

diff --git a/__pycache__/motion.cpython-36.pyc b/__pycache__/motion.cpython-36.pyc
index c74f263dd4d0145278431ac4586db2dac8a57e66..eddef263738036f4a9c6f16259f7e85530aed04f 100644
GIT binary patch
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diff --git a/autopilot.py b/autopilot.py
index 8740500..66064fe 100644
--- a/autopilot.py
+++ b/autopilot.py
@@ -78,7 +78,6 @@ class Autopilot(CORE):
 		self.statusTest();	
 		CORE.turnRight(self);
 	def forward(self):
-		
 		self.moveStatus=1;
 		self.statusTest();		
 		CORE.forward(self);
diff --git a/manual_controll.py b/manual_controll.py
index acc91be..3d507fc 100644
--- a/manual_controll.py
+++ b/manual_controll.py
@@ -49,6 +49,10 @@ 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(),
@@ -59,6 +63,7 @@ def doIt(order):
 		'i': lambda: core.printValues(),
 		'h': lambda: help(),
 		'q': lambda: autopilot(),
+		'x': lambda: turnDegree(),
 	}
 	func = switcher.get(order, lambda: print("Der gewuenschte Befehl steht nicht zur Verfuegung"))
 	return func();
diff --git a/motion.py b/motion.py
index db1b440..598645d 100644
--- a/motion.py
+++ b/motion.py
@@ -1,27 +1,34 @@
 from aktoren.motor import Motor as MOTOR
-
+from time import sleep;
 """
 Diese Klasse stellt alle Motion-Funktionen fuer den Erinaco Roboter zur Verfuegung.
 @author kf
 @since 2017-04-15
 """
 class Motion(object):
-        def __init__(self):
-                self.motorRight=MOTOR(23,18,1) #Initialisierung des linken Motors
-                self.motorLeft=MOTOR(24,25,0) #Initialisierung des rechten Motors
-        def turnLeft(self):
-                self.motorRight.forward()
-                self.motorLeft.backward()
-        def turnRight(self):
-                self.motorRight.backward()
-                self.motorLeft.forward()
-        def forward(self):
-                self.motorRight.forward()
-                self.motorLeft.forward()
-        def backward(self):
-                self.motorRight.backward()
-                self.motorLeft.backward()
-        def stop(self):
-                self.motorRight.stop()
-                self.motorLeft.stop()
-
+	def __init__(self):
+		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        
+	def turnLeft(self):
+		self.motorRight.forward()
+		self.motorLeft.backward()
+	def turnRight(self):
+		self.motorRight.backward()
+		self.motorLeft.forward()
+	def forward(self):
+		self.motorRight.forward()
+		self.motorLeft.forward()
+	def backward(self):
+		self.motorRight.backward()
+		self.motorLeft.backward()
+	def stop(self):
+		self.motorRight.stop()
+		self.motorLeft.stop()
+	def turnDegree(self,degree):
+		if degree<0:
+			self.turnLeft();		
+		else:
+			self.turnRight();
+		sleep((self.FULLTURNTIME/360)*degree);
+		self.stop();