Add Odometry, Add Robot class, Change SPI Speed, Change Motor to old speeds

2022-01-09 16:48:06 +00:00 · 2022-01-09 16:48:06 +00:00 · c800b30e31
commit c800b30e31
parent c70ac8fd03
6 changed files with 163 additions and 37 deletions
--- a/compLib/Robot.py
+++ b/compLib/Robot.py
@ -0,0 +1,12 @@
+import math
+
+
+class Robot(object):
+    
+    WHEEL_CIRCUMFERENCE_MM = 71.0 * math.pi
+    TICKS_PER_TURN = 27.7 * 100.0
+    ARBOR_LENGTH_MM = 139.0
+    ARBOR_LENGTH_M = ARBOR_LENGTH_MM / 1000.0
+    TICKS_PER_METER = 1000.0 / WHEEL_CIRCUMFERENCE_MM * TICKS_PER_TURN
+    LEFT_PORT = 4
+    RIGHT_PORT = 1