sleep(2)
break
if (correctionError > 0):
print 'Correct Right!' # Got rid of exclamation points cuz Mackenzie rude af
print 'ERROR for Right turn:', correctionError
rightSlow = 255 - correctionError * motorK
print 'Decreasing Right Motor:', rightSlow
M1.pwmSet(rightSlow, a)
M2.pwmSet(maxPWM, a)
if (correctionError < 0):
print 'Correct Left!'
print 'ERROR for Left turn:', correctionError
leftSlow = 255 + correctionError * motorK # sign here is positive because the angle is negative
print 'Decreasing Left Motor:', leftSlow
M1.pwmSet(maxPWM, a)
M2.pwmSet(leftSlow, a)
except KeyboardInterrupt:
M1.stopAll(a)
M2.stopAll(a)
manualControl(a, M1, M2,
MANUAL) # This sends the code into Manual Control
AUTO = manualControl(
a, M1, M2, MANUAL) # For more info refer to ManualControl.py
except KeyboardInterrupt:
M1.stopAll(a)
M2.stopAll(a)
M1.stopAll(a)
M2.stopAll(a)
from MotorClass import Motor
from Trig import Trig
from math import fabs
from time import sleep
import sys
a = nanpyConnect()
M1En = 3
M1A = 4
M1B = 5
M2En = 11
M2A = 9
M2B = 10
motorK = 2
maxPWM = 255
AUTO = True
MANUAL = True
M1 = Motor("LEFT", M1En, M1A, M1B)
M2 = Motor("RIGHT", M2En, M2A, M2B)
M1.pinSet(a)
M2.pinSet(a)
AUTO = manualControl(a, M1, M2, MANUAL)
M1.stopAll(a)
M2.stopAll(a)
print(AUTO)
sleep(0.0001)
sleep(2)
break
if (correctionError > 0):
print 'Correct Right!' # Got rid of exclamation points cuz Mackenzie rude af
print 'ERROR for Right turn:', correctionError
rightSlow = 255 - correctionError * motorK
print 'Decreasing Right Motor:', rightSlow
M1.pwmSet(rightSlow, a)
M2.pwmSet(maxPWM, a)
if (correctionError < 0):
print 'Correct Left!'
print 'ERROR for Left turn:', correctionError
leftSlow = 255 + correctionError * motorK # sign here is positive because the angle is negative
print 'Decreasing Left Motor:', leftSlow
M1.pwmSet(maxPWM, a)
M2.pwmSet(leftSlow, a)
except KeyboardInterrupt:
M1.stopAll(a)
M2.stopAll(a)
manualControl(
a, M1, M2,
MANUAL) # This sends the code into Manual Control
AUTO = manualControl(a, M1, M2, MANUAL)
# For more info refer to ManualControl.py
except KeyboardInterrupt:
M1.stopAll(a)
M2.stopAll(a)