9f0cf3fece
bouton A+B pour avancer bouton A seul pour tourner à gauche bouton B seul pour tourner à droite
66 lines
1.7 KiB
Python
66 lines
1.7 KiB
Python
import microbit
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import radio
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# https://www.firialabs.com/blogs/lab-notes/continuous-rotation-servos-with-python-and-the-micro-bit
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class MicrobitCServo:
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""" Microbit continuous servo controller """
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def __init__(self, pin):
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self.pin = pin
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def clockwise(self):
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self.pin.write_analog(1023 * 1.0 / 20)
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def counterclockwise(self):
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self.pin.write_analog(1023 * 2.0 / 20)
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def stop(self):
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# self.pin.write_analog(0)
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self.pin.write_analog(1023 * 1.5 / 20)
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class RingCar:
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def __init__(self):
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self.left_pin = microbit.pin1
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self.right_pin = microbit.pin2
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self.left = MicrobitCServo(self.left_pin)
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self.right = MicrobitCServo(self.right_pin)
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self.left.go = self.left.counterclockwise
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self.right.go = self.right.clockwise
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self.channel = 77
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def forward(self):
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self.left.go()
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self.right.go()
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def stop(self):
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self.left.stop()
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self.right.stop()
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def go_left(self):
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self.left.stop()
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self.right.go()
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microbit.display.show('a')
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def go_right(self):
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self.right.stop()
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self.left.go()
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microbit.display.show('b')
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def radio_controlled(self):
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radio.config(channel = self.channel)
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radio.on()
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while True:
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order = radio.receive()
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if order == 'go':
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self.forward()
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elif order == 'left':
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self.go_left()
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elif order == 'right':
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self.go_right()
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else:
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self.stop()
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car = RingCar()
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car.radio_controlled() |