compAIR/compLIB
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Fix spidev

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This commit is contained in:
Konstantin Lampalzer 2021-10-14 13:59:20 +02:00
parent eafad7ccdb
commit ce7094b5cf
2 changed files with 8 additions and 9 deletions
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1
compLib/Spi.py
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@ -16,6 +16,7 @@ SPI_HEALTH = True
spi_found = importlib.util.find_spec("spidev") is not None
spi = None
if spi_found:
import spidev
spi = spidev.SpiDev()
spi.open(SPI_BUS, SPI_DEVICE)
spi.max_speed_hz = SPI_SPEED

16
docs/source/lib/Linefollower.rst
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@ -21,18 +21,16 @@ Simple Linefollower
IRSensor.set(4, True)
IRSensor.set(5, True)
DRIVE_SPEED = 85
TURN_SPEED = 50
COLOR_BREAK = 750
KP = 50.0
DRIVE_SPEED = 75
COLOR_BREAK = 900
KP = 10.0
KD = 0.0
def drive(leftSpeed, rightSpeed):
leftSpeed *= -1
rightSpeed *= 0.906
rightSpeed *= -0.906
Motor.power(1, min(max(-100, leftSpeed), 100))
Motor.power(2, min(max(-100, rightSpeed), 100))
Motor.power(1, min(max(-100, rightSpeed), 100))
Motor.power(4, min(max(-100, leftSpeed), 100))
def follow(sleepTime = 0.1):
lastError = 0
@ -58,7 +56,7 @@ Simple Linefollower
error = 3
elif error == -1.5:
error = -3
lastError = error
adjustment = KP * error + KD * (error - lastError)