George_Andreou/Robotex-Rally
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Changed the throttle and fixed the left motors spin

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Γιώργος Αντρέου 2025-06-22 00:06:30 +03:00
parent abe591f3b8
commit 4ecbb9ef90
1 changed files with 9 additions and 4 deletions
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13
rally.py
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@ -58,12 +58,12 @@ while sonar.distance < 20:
break break
print(">>>>> Starting movement!!!") print(">>>>> Starting movement!!!")
mot_right.throttle = 0.5 mot_right.throttle = 1
mot_left.throttle = 0.5 mot_left.throttle = - 1
while True: while True:
# Find the motor revolutions # Find the motor revolutions
revleft = enc_left.position / COUNTS_PER_REV revleft = - enc_left.position / COUNTS_PER_REV
revright = enc_right.position / COUNTS_PER_REV revright = enc_right.position / COUNTS_PER_REV
distleft = revleft * circumference distleft = revleft * circumference
@ -77,4 +77,9 @@ while True:
print("Target reached!!!") print("Target reached!!!")
mot_left.throttle = 0 mot_left.throttle = 0
mot_right.throttle = 0 mot_right.throttle = 0
break break
mot_right.throttle = 1
mot_left.throttle = - 1
time.sleep(0.05)