Update documentation
This commit is contained in:
Konstantin Lampalzer
parent
cb6d561c53
commit
6b092c1eea
3 changed files with 126 additions and 9 deletions
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@ -12,13 +12,13 @@ Vorwärts und rückwärts fahren
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from compLib.Motor import *
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def forward():
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Motor.power(1, -30);
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Motor.power(2, 30);
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Motor.power(0, -30)
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Motor.power(3, 30)
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def backward():
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Motor.power(1, 30);
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Motor.power(2, -30);
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Motor.power(0, 30)
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Motor.power(3, -30)
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def main():
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print("hallo ich bin ein roboter beep buup")
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@ -29,4 +29,63 @@ Vorwärts und rückwärts fahren
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time.sleep(1)
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if __name__ == '__main__':
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main()
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Eine Linie verfolgen
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********************
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.. code-block:: python
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import time
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from compLib.Motor import Motor
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from compLib.Encoder import Encoder
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from compLib.IRSensor import IRSensor
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COLOR_BREAK = 850
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DRIVE_SPEED = 35
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IRSensor.enable()
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def drive(left, right):
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right *= -1
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Motor.multiple_power((0, right), (3, left))
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print(f"{left} {right}")
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def follow():
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while True:
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sensors = IRSensor.read_all()
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if sensors[0] > COLOR_BREAK:
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# turn left
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drive(-DRIVE_SPEED, DRIVE_SPEED)
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elif sensors[4] > COLOR_BREAK:
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# turn right
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drive(DRIVE_SPEED, -DRIVE_SPEED)
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else:
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# straight
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drive(DRIVE_SPEED, DRIVE_SPEED)
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if sensors[0] > COLOR_BREAK and sensors[4] > COLOR_BREAK:
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break
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drive(0, 0)
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time.sleep(1)
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def main():
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follow()
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drive(DRIVE_SPEED, DRIVE_SPEED)
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time.sleep(0.5)
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follow()
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drive(DRIVE_SPEED, DRIVE_SPEED)
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time.sleep(0.5)
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follow()
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drive(DRIVE_SPEED, DRIVE_SPEED)
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time.sleep(0.5)
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follow()
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if __name__ == "__main__":
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main()
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@ -88,6 +88,7 @@
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<li class="toctree-l1"><a class="reference internal" href="../faq.html">FAQ</a></li>
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<li class="toctree-l1 current"><a class="current reference internal" href="#">Beispiele</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="#vorwarts-und-ruckwarts-fahren">Vorwärts und rückwärts fahren</a></li>
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<li class="toctree-l2"><a class="reference internal" href="#eine-linie-verfolgen">Eine Linie verfolgen</a></li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../lib/index.html">compLib</a></li>
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@ -164,13 +165,13 @@
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<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="o">*</span>
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<span class="k">def</span> <span class="nf">forward</span><span class="p">():</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">);</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">30</span><span class="p">);</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="mi">30</span><span class="p">)</span>
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<span class="k">def</span> <span class="nf">backward</span><span class="p">():</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="mi">30</span><span class="p">);</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">);</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">30</span><span class="p">)</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">power</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="o">-</span><span class="mi">30</span><span class="p">)</span>
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<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"hallo ich bin ein roboter beep buup"</span><span class="p">)</span>
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@ -185,6 +186,63 @@
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</pre></div>
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</div>
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</div>
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<div class="section" id="eine-linie-verfolgen">
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<h2>Eine Linie verfolgen<a class="headerlink" href="#eine-linie-verfolgen" title="Link zu dieser Überschrift">¶</a></h2>
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
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<span class="kn">from</span> <span class="nn">compLib.Motor</span> <span class="kn">import</span> <span class="n">Motor</span>
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<span class="kn">from</span> <span class="nn">compLib.Encoder</span> <span class="kn">import</span> <span class="n">Encoder</span>
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<span class="kn">from</span> <span class="nn">compLib.IRSensor</span> <span class="kn">import</span> <span class="n">IRSensor</span>
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<span class="n">COLOR_BREAK</span> <span class="o">=</span> <span class="mi">850</span>
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<span class="n">DRIVE_SPEED</span> <span class="o">=</span> <span class="mi">35</span>
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<span class="n">IRSensor</span><span class="o">.</span><span class="n">enable</span><span class="p">()</span>
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<span class="k">def</span> <span class="nf">drive</span><span class="p">(</span><span class="n">left</span><span class="p">,</span> <span class="n">right</span><span class="p">):</span>
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<span class="n">right</span> <span class="o">*=</span> <span class="o">-</span><span class="mi">1</span>
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<span class="n">Motor</span><span class="o">.</span><span class="n">multiple_power</span><span class="p">((</span><span class="mi">0</span><span class="p">,</span> <span class="n">right</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="n">left</span><span class="p">))</span>
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<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"</span><span class="si">{</span><span class="n">left</span><span class="si">}</span><span class="s2"> </span><span class="si">{</span><span class="n">right</span><span class="si">}</span><span class="s2">"</span><span class="p">)</span>
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<span class="k">def</span> <span class="nf">follow</span><span class="p">():</span>
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<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
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<span class="n">sensors</span> <span class="o">=</span> <span class="n">IRSensor</span><span class="o">.</span><span class="n">read_all</span><span class="p">()</span>
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<span class="k">if</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="c1"># turn left</span>
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<span class="n">drive</span><span class="p">(</span><span class="o">-</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="k">elif</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="c1"># turn right</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="o">-</span><span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="k">else</span><span class="p">:</span>
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<span class="c1"># straight</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="k">if</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o">></span> <span class="n">COLOR_BREAK</span> <span class="ow">and</span> <span class="n">sensors</span><span class="p">[</span><span class="mi">4</span><span class="p">]</span> <span class="o">></span> <span class="n">COLOR_BREAK</span><span class="p">:</span>
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<span class="k">break</span>
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<span class="n">drive</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
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<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
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<span class="n">follow</span><span class="p">()</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span>
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<span class="n">follow</span><span class="p">()</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span>
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<span class="n">follow</span><span class="p">()</span>
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<span class="n">drive</span><span class="p">(</span><span class="n">DRIVE_SPEED</span><span class="p">,</span> <span class="n">DRIVE_SPEED</span><span class="p">)</span>
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<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mf">0.5</span><span class="p">)</span>
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<span class="n">follow</span><span class="p">()</span>
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<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">"__main__"</span><span class="p">:</span>
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<span class="n">main</span><span class="p">()</span>
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</pre></div>
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</div>
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</div>
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</div>
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