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- from ev3dev.ev3 import*
- import math
- def jazda(motor1, motor2, srednica, cm, predkosc,):
- obwod = srednica*math.pi
- stopni_na_cm = 360/obwod
- motor1.run_to_rel_pos(speed_sp= predkosc, position_sp=stopni_na_cm*cm)
- motor2.run_to_rel_pos(speed_sp= predkosc, position_sp=stopni_na_cm*cm)
- motor1.wait_while("running")
- motor2.wait_while("running")
- def reset(gyro):
- gyro.mode = "GYRO-ANG"
- gyro.mode = "GYRO-RATE"
- gyro.mode = "GYRO-ANG"
- def skret(motor_skret, motor_stop, gyro, stopnie, predkosc):
- reset(gyro)
- while abs(gyro.value()) < stopnie:
- print(abs(gyro.value()))
- motor_skret.run_forever(speed_sp=predkosc)
- motor_stop.stop(stop_action = "brake")
- motor_skret.stop(stop_action = "brake")
- if __name__ == "__main__":
- lewy = LargeMotor(OUTPUT_A)
- prawy = LargeMotor(OUTPUT_B)
- gyro = GyroSensor()
- jazda(lewy,prawy, 5.9, 20, 800)
- skret(lewy,prawy, gyro, 90, 800)
- skret(prawy,lewy, gyro, 180, 800)
- jazda(lewy,prawy, 5.9, -20, 800)
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