sleep(2) break if (correctionError > 0): print 'Correct Right!' # Got rid of exclamation points cuz Mackenzie rude af print 'ERROR for Right turn:', correctionError rightSlow = 255 - correctionError * motorK print 'Decreasing Right Motor:', rightSlow M1.pwmSet(rightSlow, a) M2.pwmSet(maxPWM, a) if (correctionError < 0): print 'Correct Left!' print 'ERROR for Left turn:', correctionError leftSlow = 255 + correctionError * motorK # sign here is positive because the angle is negative print 'Decreasing Left Motor:', leftSlow M1.pwmSet(maxPWM, a) M2.pwmSet(leftSlow, a) except KeyboardInterrupt: M1.stopAll(a) M2.stopAll(a) manualControl(a, M1, M2, MANUAL) # This sends the code into Manual Control AUTO = manualControl( a, M1, M2, MANUAL) # For more info refer to ManualControl.py except KeyboardInterrupt: M1.stopAll(a) M2.stopAll(a) M1.stopAll(a) M2.stopAll(a)
from MotorClass import Motor from Trig import Trig from math import fabs from time import sleep import sys a = nanpyConnect() M1En = 3 M1A = 4 M1B = 5 M2En = 11 M2A = 9 M2B = 10 motorK = 2 maxPWM = 255 AUTO = True MANUAL = True M1 = Motor("LEFT", M1En, M1A, M1B) M2 = Motor("RIGHT", M2En, M2A, M2B) M1.pinSet(a) M2.pinSet(a) AUTO = manualControl(a, M1, M2, MANUAL) M1.stopAll(a) M2.stopAll(a) print(AUTO)
sleep(0.0001) sleep(2) break if (correctionError > 0): print 'Correct Right!' # Got rid of exclamation points cuz Mackenzie rude af print 'ERROR for Right turn:', correctionError rightSlow = 255 - correctionError * motorK print 'Decreasing Right Motor:', rightSlow M1.pwmSet(rightSlow, a) M2.pwmSet(maxPWM, a) if (correctionError < 0): print 'Correct Left!' print 'ERROR for Left turn:', correctionError leftSlow = 255 + correctionError * motorK # sign here is positive because the angle is negative print 'Decreasing Left Motor:', leftSlow M1.pwmSet(maxPWM, a) M2.pwmSet(leftSlow, a) except KeyboardInterrupt: M1.stopAll(a) M2.stopAll(a) manualControl( a, M1, M2, MANUAL) # This sends the code into Manual Control AUTO = manualControl(a, M1, M2, MANUAL) # For more info refer to ManualControl.py except KeyboardInterrupt: M1.stopAll(a) M2.stopAll(a)