Move client foler

motorLinearityTest.py

@@ -0,0 +1,34 @@
+from compLib.Motor import Motor
+from compLib.Encoder import Encoder
+from compLib.IRSensor import IRSensor
+from compLib.CompLibClient import CompLibClient
+
+import time
+import math
+
+CompLibClient.use_unix_socket()
+
+sign = 1
+
+for pwr in (18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 35, 40, 45, 50, 60, 70, 80 , 90, 100):
+
+    # Motor.multiple_pulse_width((0, pwr * sign), (3, -pwr * sign))
+    Motor.multiple_power((0, pwr * sign), (3, -pwr * sign))
+
+    start_time = time.time()
+    while time.time() - start_time < 3:
+        Encoder.read_all_velocities()
+        time.sleep(0.01)
+
+    avg = 0.0
+    for i in range(0, 20):
+        vels = Encoder.read_all_velocities()
+        avg += ((abs(vels[0]) + abs(vels[3])) / 2.0)
+        time.sleep(0.01)
+    
+    avg = avg / 10
+
+    vel = str(avg).replace(".", ",")
+    print(f"{pwr} {vel}")
+
+    sign *= -1