def main(): '''The main function of our program''' # set the console just how we want it #reset_console() #set_cursor(OFF) #set_font('Lat15-Terminus24x12') # print something to the screen of the device #print('Hello World!') # print something to the output panel in VS Code debug_print('Hello VS Code!') # wait a bit so you have time to look at the display before the program # exits time.sleep(1) motors = LargeMotor(OUTPUT_C) #motors.position_sp = 20 motors.run_to_abs_pos(position_sp=20) #while True: # debug_print(motors.position_sp) # sleep(1) # motors.run_to_abs_pos(20,50) #motors.run_to_abs_pos() shovel = moveShovel.Shovel() drive = drive_gyro.Drive_gyro(shovel) drive.test()
class Pen: def __init__(self, port_motor_move, port_motor_pen): # Motor to move pen sideways self.motor_move = LargeMotor(port_motor_move) self.motor_move.reset() self.motor_move.speed_sp = 400 self.motor_move.stop_action = 'brake' self.motor_move_positions = (0, -60, -210, -350, -500, -640) # Motor te move pen up or down self.motor_pen = LargeMotor(port_motor_pen) self.motor_pen.stop_action = 'hold' # TouchSensor to indicate pen is up self.ts_pen = TouchSensor('pistorms:BBS2') # Move pen up self.motor_pen.run_forever(speed_sp=-200) self.ts_pen.wait_for_pressed() self.motor_pen.stop() @try_except def pen_up(self): ''' Move pen up.''' self.motor_pen.run_to_abs_pos(speed_sp=400, position_sp=-20) wait_while_motors_running(self.motor_pen) @try_except def pen_down(self): ''' Move pen down.''' self.motor_pen.run_to_abs_pos(speed_sp=400, position_sp=20) wait_while_motors_running(self.motor_pen) @try_except def move_to_abs_pos(self, pos): ''' Move pen sidways to absolute position [0,..,5].''' self.motor_move.run_to_abs_pos( position_sp=self.motor_move_positions[pos])