45 lines
1.2 KiB
Python
45 lines
1.2 KiB
Python
from aktoren.motor import Motor as MOTOR
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from time import sleep;
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"""
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Diese Klasse stellt alle Motion-Funktionen fuer den Erinaco Roboter zur Verfuegung.
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@author kf
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@since 2017-04-15
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"""
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class Motion(object):
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def __init__(self):
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self.motorRight=MOTOR(23,18,1) #Initialisierung des linken Motors
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self.motorLeft=MOTOR(24,25,0) #Initialisierung des rechten Motors
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self.FULLTURNTIME=4.5; #Dauer welche fuer eine 360 Grad wendebenoetigt wird in Sekunden
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self.SEKPERMETER=6.9;
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def turnLeft(self):
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self.motorRight.forward()
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self.motorLeft.backward()
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def turnRight(self):
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self.motorRight.backward()
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self.motorLeft.forward()
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def forward(self):
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self.motorRight.forward()
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self.motorLeft.forward()
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def backward(self):
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self.motorRight.backward()
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self.motorLeft.backward()
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def stop(self):
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self.motorRight.stop()
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self.motorLeft.stop()
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def runCm(self,cm):
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if cm<0:
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self.backward();
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cm=cm*-1;
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else:
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self.forward();
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sleep((self.SEKPERMETER/100)*cm);
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self.stop();
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def turnDegree(self,degree):
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if degree<0:
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self.turnLeft();
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degree=degree*-1;
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else:
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self.turnRight();
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sleep((self.FULLTURNTIME/360)*degree);
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self.stop();
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