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Add Documentation for odometrty and robot class. Remove fast_fifo

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This commit is contained in:
Konstantin Lampalzer 2022-01-09 18:40:44 +01:00
parent c800b30e31
commit 866fac9848
7 changed files with 115 additions and 8 deletions
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14
compLib/Robot.py
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@ -2,11 +2,23 @@ import math
class Robot(object):
WHEEL_CIRCUMFERENCE_MM = 71.0 * math.pi
"""Circumference of a wheel in millimeters"""
TICKS_PER_TURN = 27.7 * 100.0
"""Ticks per 360 degree turn of a wheel"""
ARBOR_LENGTH_MM = 139.0
"""Distance between the two wheels in millimeters"""
ARBOR_LENGTH_M = ARBOR_LENGTH_MM / 1000.0
"""Distance between the two wheels in meters"""
TICKS_PER_METER = 1000.0 / WHEEL_CIRCUMFERENCE_MM * TICKS_PER_TURN
"""Ticks after driving one meter"""
LEFT_PORT = 4
"""Motor port for the left motor"""
RIGHT_PORT = 1
"""Motor port for the right motor"""