leo/simulateur-robot-arduino
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fixes

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This commit is contained in:
leo 2022-11-23 16:41:09 +01:00
parent 9441662d95
commit e0156cea73
Signed by: leo
GPG Key ID: 0DD993BFB2B307DB
2 changed files with 7 additions and 7 deletions
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2
projet-tuteure-3a

@ -1 +1 @@
Subproject commit 89795a10e037c8b55f6e85b2b3e068e8b86a026f Subproject commit 7a1afae0c293c24d90f0af45c4a709d1d663128a

12
robot.py
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@ -4,7 +4,7 @@ class Robot:
# position # position
pos=(1,1.5) pos=(1,1.5)
# orientation # orientation
rot=-1 rot=-pi/2
# velocite # velocite
v=0 v=0
# velocite angulaire # velocite angulaire
@ -12,7 +12,7 @@ class Robot:
# velocite des roues (non angulaire) # velocite des roues (non angulaire)
wv=[0,0] wv=[0,0]
# velocite max # velocite max
wmv=0.1 wmv=1
# espace entre les deux roues # espace entre les deux roues
l=0.1 l=0.1
# time # time
@ -26,9 +26,9 @@ class Robot:
# position du spot lumineux # position du spot lumineux
light_pos = (9, 1.5) light_pos = (9, 1.5)
# ecart entre les deux photores # ecart entre les deux photores
photores_l = 0.1 photores_l = 0.07
# longeur du séparateur entre les photorésistances # longeur du séparateur entre les photorésistances
photores_sep_l = 0.05 photores_sep_l = 0.6
# constantes de résistance des photoresistances # constantes de résistance des photoresistances
PHOTORES_LIGHT = 100 PHOTORES_LIGHT = 100
PHOTORES_SHADOW = 20000 PHOTORES_SHADOW = 20000
@ -70,8 +70,8 @@ class Robot:
self.pr_l = self.PHOTORES_SHADOW self.pr_l = self.PHOTORES_SHADOW
self.pr_r = self.PHOTORES_LIGHT self.pr_r = self.PHOTORES_LIGHT
self.pins[self.pr_l_pin] = int(1024-1024 * self.PHOTORES_BRIDGE/(self.pr_l+self.PHOTORES_BRIDGE)) self.pins[self.pr_l_pin] = int(1024 * self.pr_l/(self.pr_l+self.PHOTORES_BRIDGE))
self.pins[self.pr_r_pin] = int(1024-1024 * self.PHOTORES_BRIDGE/(self.pr_r+self.PHOTORES_BRIDGE)) self.pins[self.pr_r_pin] = int(1024 * self.pr_r/(self.pr_r+self.PHOTORES_BRIDGE))
def analogWrite(self, pin, dc): def analogWrite(self, pin, dc):