56 lines
1.3 KiB
Python
56 lines
1.3 KiB
Python
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from Driver import PWMDriver as Driver
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class driver():
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def setvitesse(self,pin,vitesse):
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print("le moteur avec le pin ",pin," avance à la vitesse", vitesse,".")
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dri=Driver()
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dri.set_esc(pin,vitesse)
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class Robot():
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d = [1,2]
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g = [3,4]
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motors = [d[0],d[1],g[0],g[1]]
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class Translation():
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motors = []
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def init(self,v):
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self.motors = v
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def droit(self,v):
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rb = driver().setvitesse
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m = self.motors
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for i in range(len(m)):
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rb(m[i],v)
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def trv(self,v,d):
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rb = driver().setvitesse
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m = self.motors
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if d:
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rb(m[0],v)
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rb(m[3],v)
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else:
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rb(m[1],v)
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rb(m[2],v)
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def sd(self,v):
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rb = driver().setvitesse
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m = self.motors
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rb(m[0],v)
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rb(m[3],v)
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rb(m[1],v*-1)
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rb(m[2],v*-1)
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def Rotation(self,v):
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m = self.motors
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rb = driver().setvitesse
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rb(m[0],v)
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rb(m[1],v)
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rb(m[2],v*-1)
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rb(m[3],v*-1)
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Translation = Translation()
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Translation.init(motors)
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"""
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r = Robot()
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r.Translation.droit(1)
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r.Translation.trv(2,True)
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r.Translation.sd(5)
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r.Translation.sd(-5)
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r.Rotation(5)
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r.Rotation(-5)
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"""
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