def _calibrate_steering_pid(io_device):
_setup_steering_pid()
steering_pid_params = _query_steering_pid_params()
p = steering_pid_params['p']
i = steering_pid_params['i']
d = steering_pid_params['d']
while True:
p, i, d = _easy_ask("Steering PID [space-separated p i d]", [p, i, d],
lambda s: (float(v) for v in s.split(' ')),
io_device,
adj_delta=0.1)
STORE.put('CAR_STEERING_PID_P', p)
STORE.put('CAR_STEERING_PID_I', i)
STORE.put('CAR_STEERING_PID_D', d)
_setup_steering_pid()
m.straight(m.CAR_THROTTLE_FORWARD_SAFE_SPEED, 2.5,
invert_output=False) # <-- uses gyro
m.straight(m.CAR_THROTTLE_REVERSE_SAFE_SPEED, 2.5,
invert_output=True) # <-- uses gyro
if _choice_input(prompt="Keep?",
choices=['n', 'y'],
io_device=io_device) == 'y':
break
_setup_steering_pid(save=True)
def reverse(duration=1.0, verbose=True):
"""
Drive the car in reverse for `duration` seconds.
"""
from car import motors
if duration > 5.0:
print(
"Error: The duration exceeds 5 seconds; will reset to 5 seconds.")
duration = 5.0
if verbose:
print("Driving in reverse for {} seconds.".format(duration))
if duration <= 0.0:
return
motors.straight(motors.CAR_THROTTLE_REVERSE_SAFE_SPEED,
duration,
invert_output=True)
def reverse(sec=None, cm=None, verbose=True):
"""
Drive the car in reverse for `sec` seconds or `cm` centimeters (passing in both
will raise an error). If neither is passed in, the car will drive for 1 second.
"""
from car import motors
if sec is not None and cm is not None:
_ctx_print_all(
"Error: Please specify duration (sec) OR distance (cm) - not both."
)
return
if sec is None and cm is None:
sec = 1.0
if sec is not None:
if sec > 5.0:
_ctx_print_all(
"Error: The duration (sec) exceeds 5 seconds; will reset to 5 seconds."
)
sec = 5.0
if sec <= 0.0:
return
if verbose:
_ctx_print_all("Driving in reverse for {} seconds.".format(sec))
if cm is not None:
if cm > 300.0:
_ctx_print_all(
"Error: The distance (cm) exceeds 300 cm (~10 feet); will reset to 300 cm."
)
cm = 300.0
if cm <= 0.0:
return
if verbose:
_ctx_print_all("Driving in reverse for {} centimeters.".format(cm))
motors.straight(motors.safe_reverse_throttle(),
sec,
cm,
invert_output=True)