turnDegree-Funktion hinzugefuegt

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);

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();

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();