commit fine-tune from the last week

web/__init__.py

@@ -28,6 +28,9 @@ app.debug = True
 # Create a random secrey key so we can use sessions
 app.config['SECRET_KEY'] = os.urandom(12)
 
+from ev3.ev3dev import Tone
+alarm = Tone()
+
 #head = None#Motor(port=Motor.PORT.A)
 right_wheel = None
 left_wheel  = None
@@ -38,11 +41,15 @@ try:
     right_wheel = Motor(port=Motor.PORT.B)
     left_wheel = Motor(port=Motor.PORT.C)
     button = TouchSensor()
-    ir_sensor = InfraredSensor()
+    #ir_sensor = InfraredSensor()
     color_sensor = ColorSensor()
+    alarm.play(200)
 except Exception as e:
+    alarm.play(200)
+    alarm.play(200)
     raise e
 
+
 right_wheel.position = 0
 left_wheel.position = 0
 right_wheel.reset()

web/lib/movements.py

@@ -43,12 +43,12 @@ def check_stop_condition(motorA, motorB):
             stop(motorA, motorB)
             # go a few centimers backward
             motorA.position = 0
-            motorA.run_position_limited(position_sp=180, speed_sp=500,
-                   stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
+            motorA.run_position_limited(position_sp=220, speed_sp=350,
+                   stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=20,
                    ramp_down_sp=1000)
             motorB.position = 0
-            motorB.run_position_limited(position_sp=180, speed_sp=500,
-                   stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
+            motorB.run_position_limited(position_sp=220, speed_sp=350,
+                   stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=20,
                    amp_down_sp=1000)
             while "running" in motorA.state.split(" ") and \
                                 "running" in motorB.state.split(" "):
@@ -67,12 +67,12 @@ def run_position_limited(motorA, motorB, position):
     Run for a limitied position.
     """
     motorA.position = 0
-    motorA.run_position_limited(position_sp=position, speed_sp=500,
-                   stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
+    motorA.run_position_limited(position_sp=position, speed_sp=350,
+                   stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=20,
                    ramp_down_sp=1000)
     motorB.position = 0
-    motorB.run_position_limited(position_sp=position, speed_sp=500,
-                   stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=1000,
+    motorB.run_position_limited(position_sp=position, speed_sp=350,
+                   stop_mode=Motor.STOP_MODE.BRAKE, ramp_up_sp=20,
                    amp_down_sp=1000)
     return check_stop_condition(motorA, motorB)
 

web/views/views.py

@@ -77,7 +77,7 @@ def move(direction="forward", speed=60):
     elif direction == 'left':
         forever = request.args.get("forever", None)
         if None is forever:
-            movements.rotate(left_wheel, right_wheel, -360, 360, 140, 0)
+            movements.rotate(left_wheel, right_wheel, -360, 360, 180, 0)
         else:
             left_wheel.run_forever(speed * -1, regulation_mode=False)
             right_wheel.run_forever(speed, regulation_mode=False)
@@ -85,7 +85,7 @@ def move(direction="forward", speed=60):
     elif direction == 'right':
         forever = request.args.get("forever", None)
         if None is forever:
-            movements.rotate(left_wheel, right_wheel, 360, -360, 0, 140)
+            movements.rotate(left_wheel, right_wheel, 360, -360, 0, 180)
         else:
             left_wheel.run_forever(speed, regulation_mode=False)
             right_wheel.run_forever(speed * -1, regulation_mode=False)