Merge branch 'main' of https://github.com/AlanWang611/SET2023

electrical_code/drive/movement_2motors/movement_2motors.ino

@@ -6,8 +6,9 @@ int leftMotor2 = 9;
 int rightMotor1 = 6;
 int rightMotor2 = 5;
 
-int direction;
+int LRdirection;
 int angle;
+int FBdirection;
 int dist;
 String inputString;
 
@@ -95,23 +96,29 @@ void  loop() {
   }
   // 1 character - direction (1 as left and 0 as right)
   // 3 characters - angle
+  // 1 character - direction (1 as forward and 0 as backward)
   // 3 characters - distance
-  direction = inputString.substring(0, 1).toInt();
+  LRdirection = inputString.substring(0, 1).toInt();
   angle = inputString.substring(1, 4).toInt();
-  String dist_str = inputString.substring(4, 8);
+  FBdirection = inputString.substring(4, 5).toInt();
+  String dist_str = inputString.substring(5, 8);
   while (dist_str.length() < 3) {
     dist_str = "0" + dist_str;
   }
   dist = dist_str.toInt();
 
-  if(direction == 1){
+  if(LRdirection == 1){
     turnLeft(angle * 10);
   }
   else{
     turnRight(angle * 10);
   }
-  goForward(dist * 10);
-
+  if(FBdirection == 1){
+      goForward(dist * 10);
+  }
+  else {
+  goBackward(dist * 10);
+  }
 }
 
 

electrical_code/wheels.py

@@ -2,6 +2,8 @@
 import time
 
 class Wheels:
+    time_divisor = 10
+
     def __init__(self, port_num):
         self.arduino = serial.Serial(port=port_num, baudrate=115200, timeout=0.1)
 
@@ -17,20 +19,29 @@ def move(self, dir, angle, dist):
         self.write_serial(command)
 
     def turnRight(self, angle):
-        command = "0" + str(angle) + "000"
+        command = "0" + str(angle).zfill(3) + "0000"
         self.write_serial(command)
+        time.sleep(angle*(self.time_divisor)/1000)
+
 
     def turnLeft(self, angle):
-        command = "1" + str(angle) + "000"
+        command = "1" + str(angle).zfill(3) + "0000"
         self.write_serial(command)
+        time.sleep(angle*(self.time_divisor)/1000)
+
 
     def goForward(self, dist):
-        command = "0000" + str(dist) # direction doesn't matter
+        print('hello')
+        command = "00001" + str(dist).zfill(3)
         self.write_serial(command)
+        time.sleep(dist*(self.time_divisor)/1000)
+
 
     def goBackward(self, dist):
-        command = "0000" + str(dist) # direction doesn't matter
+        command = "00000" + str(dist).zfill(3)
         self.write_serial(command)
+        time.sleep(dist*(self.time_divisor)/1000)
+
 
 if __name__ == "__main__":
     myFirstWheel = Wheels("your_port_number_here")

electrical_code/wheels_test.py

@@ -1,4 +1,11 @@
-import "./wheels.py"
+from wheels import Wheels
+
+# Instantiate the Wheels class with your port number
+myFirstWheel = Wheels("COM5")
+
+# Test movement commands
+myFirstWheel.goForward(100)  # Go forward 100 units
+# myFirstWheel.goBackward("50")  # Go backward 50 units
+# myFirstWheel.turnRight("90")  # Turn right by 90 degrees
+# myFirstWheel.turnLeft("45")  # Turn left by 45 degrees
 
-w = Wheels("COM4")
-w.move("100100")