Commit 9c98f618 authored by Cédric Bonhomme's avatar Cédric Bonhomme

minor adjustments

parent 6a31ad18
...@@ -81,11 +81,11 @@ def rotate(motorA, motorB, position1, position2, initial_position1, initial_posi ...@@ -81,11 +81,11 @@ def rotate(motorA, motorB, position1, position2, initial_position1, initial_posi
Rotate. Rotate.
""" """
motorA.position = initial_position1 motorA.position = initial_position1
motorA.run_position_limited(position_sp=position1, speed_sp=500, motorA.run_position_limited(position_sp=position1, speed_sp=600,
stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000, stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
ramp_down_sp=1000) ramp_down_sp=1000)
motorB.position= initial_position2 motorB.position= initial_position2
motorB.run_position_limited(position_sp=position2, speed_sp=500, motorB.run_position_limited(position_sp=position2, speed_sp=600,
stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000, stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
amp_down_sp=1000) amp_down_sp=1000)
return check_stop_condition(motorA, motorB) return check_stop_condition(motorA, motorB)
...@@ -77,7 +77,7 @@ def move(direction="forward", speed=60): ...@@ -77,7 +77,7 @@ def move(direction="forward", speed=60):
elif direction == 'left': elif direction == 'left':
forever = request.args.get("forever", None) forever = request.args.get("forever", None)
if None is forever: if None is forever:
movements.rotate(left_wheel, right_wheel, -310, 310, 90, 0) movements.rotate(left_wheel, right_wheel, -360, 360, 140, 0)
else: else:
left_wheel.run_forever(speed * -1, regulation_mode=False) left_wheel.run_forever(speed * -1, regulation_mode=False)
right_wheel.run_forever(speed, regulation_mode=False) right_wheel.run_forever(speed, regulation_mode=False)
...@@ -85,7 +85,7 @@ def move(direction="forward", speed=60): ...@@ -85,7 +85,7 @@ def move(direction="forward", speed=60):
elif direction == 'right': elif direction == 'right':
forever = request.args.get("forever", None) forever = request.args.get("forever", None)
if None is forever: if None is forever:
movements.rotate(left_wheel, right_wheel, 310, -310, 0, 90) movements.rotate(left_wheel, right_wheel, 360, -360, 0, 140)
else: else:
left_wheel.run_forever(speed, regulation_mode=False) left_wheel.run_forever(speed, regulation_mode=False)
right_wheel.run_forever(speed * -1, regulation_mode=False) right_wheel.run_forever(speed * -1, regulation_mode=False)
......
  • @all this is again some fine tune and tests.

    I will make other fine tune on the stand before to synchronize both robots.

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