本文整理匯總了Python中motor.Motor.check方法的典型用法代碼示例。如果您正苦於以下問題：Python Motor.check方法的具體用法？Python Motor.check怎麽用？Python Motor.check使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類motor.Motor的用法示例。
在下文中一共展示了Motor.check方法的1個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: parameters
# 需要導入模塊: from motor import Motor [as 別名]
# 或者: from motor.Motor import check [as 別名]
#.........這裏部分代碼省略.........
def __exit__(self, exc_type, exc_value, traceback):
self.interface.terminate()
#####################
### Motor control ###
#####################
"""
Sets PID values for all motors
"""
def setPID(self, p, i, d):
self.motorL.setPID(p, i, d)
self.motorR.setPID(p, i, d)
"""
Whether any of the motors are rotating
"""
def isMoving(self):
return self.motorL.isRotating() or self.motorR.isRotating()
"""
Moves the given distance forwards or backwards
"""
def move(self, distance):
# distance specified in metres
wheel = distance * self.movementCoeff
self.startLogging(['move', distance])
self.motorL.rotate(self.powerL * wheel)
self.motorR.rotate(self.powerR * wheel)
self.stopLogging()
"""
Rotates the whole robot by the given angle clockwise
"""
def rotate(self, angle):
# angle specified in degrees
wheel = self.rotatePower * angle * (math.pi/180) * self.botRadius * self.movementCoeff
self.startLogging(['turn', angle])
self.motorL.rotate( self.powerL * wheel)
self.motorR.rotate(-self.powerR * wheel)
self.stopLogging()
def drive(self, speedL, speedR):
self.motorL.setSpeed(speedL)
self.motorR.setSpeed(speedR)
def arcPath(self, theta):
# theta = 0 returns to straight path
# Positive theta => too far to the right => turn left
if theta <= 0 :
self.powerL = 1
self.powerR = 1 + theta
else:
self.powerL = 1 - theta
self.powerR = 1
"""
Blocks the program until the robot stops moving
"""
def wait(self):
while self.isMoving():
time.sleep(self.deltaTime)
######################
### Sensor control ###
######################
"""
Starts the main loop, checking sensors and responding to events until
`running` is false
"""
def mainLoop(self):
self.running = True
while self.running:
self.touchSensorL.check()
self.touchSensorR.check()
self.ultraSonic.check()
self.motorL.check()
self.motorR.check()
time.sleep(self.deltaTime)
def sensorAction(self, params):
if(params['position'] != 'either' or not params['down']):
return
self.wait()
# function triggered by the event handler when the touchsensor values are changed.
if (self.touchSensorL.getState() == EventState.SENSOR_TOUCH_DOWN) \
and (self.touchSensorR.getState() == EventState.SENSOR_TOUCH_DOWN):
self.move(-20)
self.wait()
self.rotate(self, 90)
elif self.touchSensorL.getState() == EventState.SENSOR_TOUCH_DOWN:
self.move(-10)
self.wait()
self.rotate(self, 45)
elif self.touchSensorL.getState() == EventState.SENSOR_TOUCH_DOWN:
self.move(-10)
self.wait()
self.rotate(self, -45)