if __name__ == "__main__":
#main()
from time import perf_counter
from ev3dev.ev3 import *
#from ev3fast import *
lMotor = LargeMotor('outA')
rMotor = LargeMotor('outD')
lSensor = ColorSensor('in1')
rSensor = ColorSensor('in4')
LOOPS = 1000
startTime = perf_counter()
for a in range(0,LOOPS):
valueL = lSensor.raw
valueR = rSensor.raw
totalL = (valueL[0] + valueL[1] + valueL[2])
totalR = (valueR[0] + valueR[1] + valueR[2])
error = totalL - totalR
lMotor.speed_sp = 200 + error
rMotor.speed_sp = 200 - error
lMotor.run_forever()
rMotor.run_forever()
endTime = perf_counter()
lMotor.stop()
rMotor.stop()
print(str(LOOPS / (endTime - startTime)))
from __future__ import print_function
from ev3dev2.motor import LargeMotor, OUTPUT_B, OUTPUT_C, SpeedPercent # OUTPUT_A, OUTPUT_D, eTank
import time
print("Ready to go.")
rightMotor = LargeMotor(OUTPUT_B)
leftMotor = LargeMotor(OUTPUT_C)
leftMotor.reset()
rightMotor.reset()
# setting target speed (deg per sec)
leftMotor.speed_sp = 360
rightMotor.speed_sp = 360
rampup = 5
spValue = 20
timeStep = 0.5
simDuration = 15
totalSteps = int(simDuration / timeStep)
initial_angle = 0
final_angle = 720
ramp_up_down_left = int(rampup * 1000 * leftMotor.max_speed /
leftMotor.speed_sp)
ramp_up_down_right = int(rampup * 1000 * rightMotor.max_speed /
rightMotor.speed_sp)
leftMotor.ramp_up_sp = ramp_up_down_left
leftMotor.ramp_down_sp = ramp_up_down_left
rightMotor.ramp_up_sp = ramp_up_down_right
rightMotor.ramp_down_sp = ramp_up_down_right
