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More granular control of the motors left/right directions

This commit is contained in:
Fabio Manganiello 2018-04-12 17:18:22 +02:00
parent de7a8067cb
commit 25e601ca4d
1 changed files with 11 additions and 5 deletions
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16
platypush/plugins/gpio/zeroborg/__init__.py
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@ -27,7 +27,9 @@ class GpioZeroborgPlugin(Plugin):
def __init__(self, v_in=8.4, v_out=6.0,
power_offset_left_up=0.0, power_offset_right_up=0.0,
power_offset_left_down=0.0, power_offset_right_down=0.0):
power_offset_left_down=0.0, power_offset_right_down=0.0,
power_offset_left_left=0.0, power_offset_left_right=0.0,
power_offset_right_left=0.0, power_offset_right_right=0.0):
import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
self.v_in = v_in
@ -39,11 +41,15 @@ class GpioZeroborgPlugin(Plugin):
Direction.DIR_LEFT: {
Direction.DIR_UP: power_offset_left_up,
Direction.DIR_DOWN: power_offset_left_down,
Direction.DIR_LEFT: power_offset_left_left,
Direction.DIR_RIGHT: power_offset_left_right,
},
Direction.DIR_RIGHT: {
Direction.DIR_UP: power_offset_right_up,
Direction.DIR_DOWN: power_offset_right_down,
Direction.DIR_LEFT: power_offset_right_left,
Direction.DIR_RIGHT: power_offset_right_right,
},
}
@ -118,11 +124,11 @@ class GpioZeroborgPlugin(Plugin):
left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
elif self._direction == Direction.DIR_LEFT.value:
left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
right = 1.75 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP]
left = -0.66 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_LEFT]
right = 1.32 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_LEFT]
elif self._direction == Direction.DIR_RIGHT.value:
left = 1.75 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
left = 1.32 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_RIGHT]
right = -0.66 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_RIGHT]
elif self._direction is not None:
logging.warning('Invalid direction: {}'.format(direction))
self.stop()