def __init__(self,
left_motor_port=OUTPUT_B,
right_motor_port=OUTPUT_C,
medium_motor_port=OUTPUT_A):
MoveTank.__init__(self, left_motor_port, right_motor_port)
self.set_polarity(MediumMotor.POLARITY_NORMAL)
self.medium_motor = MediumMotor(medium_motor_port)
self.sound = Sound()
def __init__(self, left_motor_port, right_motor_port, polarity='inversed', speed=400, channel=1):
MoveTank.__init__(self, left_motor_port, right_motor_port)
self.set_polarity(polarity)
left_motor = self.motors[left_motor_port]
right_motor = self.motors[right_motor_port]
self.speed_sp = speed
self.remote = InfraredSensor()
self.remote.on_channel1_top_left = self.make_move(left_motor, self.speed_sp)
self.remote.on_channel1_bottom_left = self.make_move(left_motor, self.speed_sp * -1)
self.remote.on_channel1_top_right = self.make_move(right_motor, self.speed_sp)
self.remote.on_channel1_bottom_right = self.make_move(right_motor, self.speed_sp * -1)
self.channel = channel
def __init__(self,
left_motor_port,
right_motor_port,
wheel_class,
wheel_distance_mm,
desc=None,
motor_class=LargeMotor):
MoveTank.__init__(self, left_motor_port, right_motor_port, desc,
motor_class)
self.wheel = wheel_class()
self.wheel_distance_mm = wheel_distance_mm
# The circumference of the circle made if this robot were to rotate in place
self.circumference_mm = self.wheel_distance_mm * math.pi
self.min_circle_radius_mm = self.wheel_distance_mm / 2
# odometry variables
self.x_pos_mm = 0.0 # robot X position in mm
self.y_pos_mm = 0.0 # robot Y position in mm
self.odometry_thread_run = False
self.odometry_thread_id = None
self.theta = 0.0
