commit by robo pro coding

omniwheels_x4_soccer_goal.py

@@ -220,8 +220,8 @@ def turnSideLeft(v, ticks):
     global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, goal_width, pos_goal_both, state
     cmd = 'turnSideLeft'
     if ticks >= 1:
-        TXT_M_M1_encodermotor.set_speed(int(0), Motor.CCW)
-        TXT_M_M2_encodermotor.set_speed(int(0), Motor.CW)
+        TXT_M_M1_encodermotor.set_speed(int(100), Motor.CCW)
+        TXT_M_M2_encodermotor.set_speed(int(100), Motor.CW)
         TXT_M_M1_encodermotor.set_distance(int(ticks), TXT_M_M2_encodermotor)
         TXT_M_M3_encodermotor.set_speed(int(v), Motor.CW)
         TXT_M_M4_encodermotor.set_speed(int(v), Motor.CCW)
@@ -236,8 +236,8 @@ def turnSideRight(v, ticks):
     global factor_x, ts_ball, ts_goal_left, ts_goal_right, cmd, factor_y, posx_ball, posx_goal_left, posx_goal_right, counters, factor_ball_rot, posy_ball, search_dir_left, x_min, v_var_ball_xpos, x_max, v_var_ball_ypos, y_ball_far, y_ball_near, y_ball_touch, v_slow, v_fast, goal_width, pos_goal_both, state
     cmd = 'turnSideRight'
     if ticks >= 1:
-        TXT_M_M1_encodermotor.set_speed(int(0), Motor.CW)
-        TXT_M_M2_encodermotor.set_speed(int(0), Motor.CCW)
+        TXT_M_M1_encodermotor.set_speed(int(100), Motor.CW)
+        TXT_M_M2_encodermotor.set_speed(int(100), Motor.CCW)
         TXT_M_M1_encodermotor.set_distance(int(ticks), TXT_M_M2_encodermotor)
         TXT_M_M3_encodermotor.set_speed(int(v), Motor.CCW)
         TXT_M_M4_encodermotor.set_speed(int(v), Motor.CW)
@@ -361,7 +361,6 @@ state = 'NONE'
 cmd = 'NONE'
 time.sleep(2)
 while True:
-    checkTimeouts()
     if display.get_attr("txt_switch_active.checked"):
         if posx_ball != None and posy_ball != None and posx_goal_left == None and posx_goal_right == None:
             state = 'BALL_NO_GOAL'
@@ -457,6 +456,7 @@ while True:
     display.set_attr("txt_label_goal.text", str('x:{}, {}, p:{}, w:{}'.format(posx_goal_left, posx_goal_right, pos_goal_both, goal_width)))
     display.set_attr("txt_label_counters.text", str('{}'.format(counters)))
     print('{}:{}  GOAL_x: {}, {}, p:{}, w:{} BALL_pos:{},{} v_x:{} v_y:{}'.format(state, cmd, posx_goal_left, posx_goal_right, pos_goal_both, goal_width, posx_ball, posy_ball, v_var_ball_xpos, v_var_ball_ypos))
+    checkTimeouts()
     time.sleep(0.08)