Python Polar.tの例

コード例 #1

ファイル: controller.py プロジェクト: KeirRice/PolarTable

		def step(self, steps):
			"""Step the motors in sync."""
			biggest = int(max(abs(steps.r), abs(steps.t)))
			step_size = Steps(float(steps.r) / biggest, float(steps.t) / biggest)
			
			self.r_motor.set_direction(sign(steps.r))
			self.t_motor.set_direction(sign(steps.t))

			accumulation = Steps(0.0, 0.0)
			for i in range(biggest):
				accumulation += step_size
				while abs(accumulation.r) >= 1.0 or abs(accumulation.t) >= 1.0:
					this_step = Polar(0.0, 0.0)
					if abs(accumulation.r) >= 1.0:
						r_step = self.r_motor.step()
						this_step.r = r_step
						if r_step.is_boundry:
							accumulation.r = 0.0
						else:
							accumulation.r = accumulation.r - sign(steps.r)
						
					if abs(accumulation.t) >= 1.0:
						this_step.t = self.t_motor.step()
						accumulation.t = accumulation.t - sign(steps.t)
					yield this_step

コード例 #2

ファイル: controller.py プロジェクト: KeirRice/PolarTable

		def step(self, steps):
			"""Step the motors in sync."""
			biggest = int(max(abs(steps.r), abs(steps.t)))
			step_size = Steps(float(steps.r) / biggest, float(steps.t) / biggest)
			
			accumulation = Steps(0.0, 0.0)
			for i in range(biggest):
				accumulation += step_size
				while abs(accumulation.r) >= 1.0 or abs(accumulation.t) >= 1.0:
					this_step = Polar(0.0, 0.0)
					if abs(accumulation.r) >= 1.0:
						r_step = self.r_motor.effective_step_distance * (self.r_motor.step_size * sign(steps.r))
						this_step.r = r_step
						accumulation.r = accumulation.r - sign(steps.r)
						
					if abs(accumulation.t) >= 1.0:
						this_step.t = self.t_motor.effective_step_distance * (self.t_motor.step_size * sign(steps.t))
						accumulation.t = accumulation.t - sign(steps.t)
					yield this_step