def syncmotorsforever(self, power):
if self._bricks:
if not((power < -127) or (power > 127)):
try:
motorB = Motor(self._bricks[self.active_nxt], PORT_B)
motorC = Motor(self._bricks[self.active_nxt], PORT_C)
syncmotors = SynchronizedMotors(motorB, motorC, 0)
syncmotors.run(power)
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_POWER)
else:
raise logoerror(ERROR_BRICK)
def syncmotors(self, power, turns):
if self._bricks:
if not((power < -127) or (power > 127)):
if turns < 0:
turns = abs(turns)
power = -1 * power
try:
motorB = Motor(self._bricks[self.active_nxt], PORT_B)
motorC = Motor(self._bricks[self.active_nxt], PORT_C)
syncmotors = SynchronizedMotors(motorB, motorC, 0)
syncmotors.turn(power, int(turns*360))
except:
raise logoerror(ERROR_GENERIC)
else:
raise logoerror(ERROR_POWER)
else:
raise logoerror(ERROR_BRICK)
Added sonar readings with velocity and acceloration calculations for both. @author: benjamin """ from time import sleep from nxt.motor import Motor, PORT_A, PORT_C, SynchronizedMotors from nxt.sensor import Ultrasonic, PORT_1 import nxt.locator import string brick = nxt.locator.find_one_brick() left = Motor(brick, PORT_C) right = Motor(brick, PORT_A) tracks = SynchronizedMotors(left, right, 0) tacho_zero = [0,0] # An array for resetting the tacho readings. # This program uses the physics notiation of: # X for position # V for velocity, a.k.a: X-dot # A for acceleration, a.k.a: X-double-dot tachoX0 = [0,0] # Current tacho position in degrees tachoX1 = [0,0] # Previous tacho position tachoV0 = [0,0] # Current tacho velocity in dgrees per second tachoV1 = [0,0] # Tacho velocity at previous time step tachoA0 = [0,0] # Current tacho acceleration in dgrees per second per second sonarX0 = [0,0] # Current sonar reading provides distance in cm from objects sonarX1 = [0,0] # Previous sonar reading