mpu wip

Author: previ

coderbot.py

@@ -96,7 +96,7 @@ def __init__(self, motor_trim_factor=1.0, encoder=True):
                       sonar.Sonar(self.pi, PIN_SONAR_4_TRIGGER, PIN_SONAR_4_ECHO)]
 
         try:
-            self._ag = mpu.AccelGyroMag()
+            self._mpu = mpu.AccelGyroMag()
         except IOError:
             logging.info("MPU not available")
 
@@ -130,11 +130,11 @@ def turn(self, speed=100, elapse=0, steps=-1):
         self.motor_control(speed_left=speed_left, speed_right=speed_right, time_elapse=elapse)
 
     def turn_angle(self, speed=100, angle=0):
-        z = self._ag.get_gyro()[2]
+        z = self._mpu.get_gyro()[2]
         self.turn(speed, elapse=0)
-        while abs(z - self._ag.get_gyro()[2]) < angle:
+        while abs(z - self._mpu.get_gyro()[2]) < angle:
             time.sleep(0.05)
-            logging.info(self._ag.get_gyro()[2])
+            logging.info(self._mpu.get_gyro()[2])
         self.stop()
 
     def forward(self, speed=100, elapse=0, distance=0):
@@ -159,25 +159,25 @@ def get_sonar_distance(self, sonar_id=0):
         return self.sonar[sonar_id].get_distance()
 
     def get_mpu_accel(self, axis=None):
-        acc = self.mpu.get_acc()
+        acc = self._mpu.get_acc()
         if axis is None:
             return acc
         else:
             return acc[axis]
 
     def get_mpu_gyro(self, axis=None):
-        gyro = self.mpu.get_gyro()
+        gyro = self._mpu.get_gyro()
         if axis is None:
             return gyro
         else:
             return gyro[axis]
 
     def get_mpu_heading(self):
-        hdg = self.mpu.get_hdg()
+        hdg = self._mpu.get_hdg()
         return hdg
 
     def get_mpu_temp(self):
-        hdg = self.mpu.get_temp()
+        temp = self._mpu.get_temp()
         return temp
 
     def _servo_control(self, pin, angle):

static/js/blockly/blocks.js

@@ -1113,7 +1113,7 @@ Blockly.Blocks['coderbot_mpu_get_accel'] = {
         .appendField(Blockly.Msg.CODERBOT_MPU_GET_ACCEL)
         .appendField(new Blockly.FieldDropdown([[Blockly.Msg.CODERBOT_MPU_AXIS_X, "0"],
                                                 [Blockly.Msg.CODERBOT_MPU_AXIS_Y, "1"],
-                                                [Blockly.Msg.CODERBOT_MPU_AXIS_Z, "2"], 'AXIS');
+                                                [Blockly.Msg.CODERBOT_MPU_AXIS_Z, "2"]]), 'AXIS');
     this.setOutput(true, 'Number');
     this.setTooltip(Blockly.Msg.LOGIC_BOOLEAN_TOOLTIP);
   }
@@ -1138,7 +1138,7 @@ Blockly.Blocks['coderbot_mpu_get_gyro'] = {
         .appendField(Blockly.Msg.CODERBOT_MPU_GET_GYRO)
         .appendField(new Blockly.FieldDropdown([[Blockly.Msg.CODERBOT_MPU_AXIS_X, "0"],
                                                 [Blockly.Msg.CODERBOT_MPU_AXIS_Y, "1"],
-                                                [Blockly.Msg.CODERBOT_MPU_AXIS_Z, "2"], 'AXIS');
+                                                [Blockly.Msg.CODERBOT_MPU_AXIS_Z, "2"]]), 'AXIS');
     this.setOutput(true, 'Number');
     this.setTooltip(Blockly.Msg.LOGIC_BOOLEAN_TOOLTIP);
   }

static/js/blockly/bot_en.js

@@ -83,14 +83,13 @@ Blockly.Msg.CODERBOT_SONAR_SENSOR_1 = "1";
 Blockly.Msg.CODERBOT_SONAR_SENSOR_2 = "2";
 Blockly.Msg.CODERBOT_SONAR_SENSOR_3 = "3";
 Blockly.Msg.CODERBOT_SONAR_SENSOR_4 = "4";
-Blockly.Msg.CODERBOT_MPU_GYRO = "gyroscope axis";
-Blockly.Msg.CODERBOT_MPU_ACCEL = "gyroscope axis";
-Blockly.Msg.CODERBOT_MPU_HDG = "heading";
-Blockly.Msg.CODERBOT_MPU_TEMP = "temperature";
-Blockly.Msg.CODERBOT_MPU_AXIS = "axis";
-Blockly.Msg.CODERBOT_MPU_AXIS_X = "X";
-Blockly.Msg.CODERBOT_MPU_AXIS_Y = "Y";
-Blockly.Msg.CODERBOT_MPU_AXIS_Z = "Z";
+Blockly.Msg.CODERBOT_MPU_GET_GYRO = "gyroscope axis";
+Blockly.Msg.CODERBOT_MPU_GET_ACCEL = "gyroscope axis";
+Blockly.Msg.CODERBOT_MPU_GET_HEADING = "heading";
+Blockly.Msg.CODERBOT_MPU_GET_TEMP = "temperature";
+Blockly.Msg.CODERBOT_MPU_AXIS_X = "x";
+Blockly.Msg.CODERBOT_MPU_AXIS_Y = "y";
+Blockly.Msg.CODERBOT_MPU_AXIS_Z = "z";
 Blockly.Msg.CODERBOT_EVENT_WHEN = "when";
 Blockly.Msg.CODERBOT_EVENT_WITH = "with";
 Blockly.Msg.CODERBOT_EVENT_PUBLISH = "publish";

static/js/blockly/bot_it.js

@@ -83,14 +83,13 @@ Blockly.Msg.CODERBOT_SONAR_SENSOR_1 = "1";
 Blockly.Msg.CODERBOT_SONAR_SENSOR_2 = "2";
 Blockly.Msg.CODERBOT_SONAR_SENSOR_3 = "3";
 Blockly.Msg.CODERBOT_SONAR_SENSOR_4 = "4";
-Blockly.Msg.CODERBOT_MPU_GYRO = "giroscopio asse";
-Blockly.Msg.CODERBOT_MPU_ACCEL = "accelerometro asse";
-Blockly.Msg.CODERBOT_MPU_HDG = "bussola";
-Blockly.Msg.CODERBOT_MPU_TEMP = "temperatura";
-Blockly.Msg.CODERBOT_MPU_AXIS = "asse";
-Blockly.Msg.CODERBOT_MPU_AXIS_X = "X";
-Blockly.Msg.CODERBOT_MPU_AXIS_Y = "Y";
-Blockly.Msg.CODERBOT_MPU_AXIS_Z = "Z";
+Blockly.Msg.CODERBOT_MPU_GET_GYRO = "giroscopio asse";
+Blockly.Msg.CODERBOT_MPU_GET_ACCEL = "accelerometro asse";
+Blockly.Msg.CODERBOT_MPU_GET_HEADING = "bussola";
+Blockly.Msg.CODERBOT_MPU_GET_TEMP = "temperatura";
+Blockly.Msg.CODERBOT_MPU_AXIS_X = "x";
+Blockly.Msg.CODERBOT_MPU_AXIS_Y = "y";
+Blockly.Msg.CODERBOT_MPU_AXIS_Z = "z";
 Blockly.Msg.CODERBOT_EVENT_WHEN = "quando";
 Blockly.Msg.CODERBOT_EVENT_WITH = "con";
 Blockly.Msg.CODERBOT_EVENT_PUBLISH = "pubblica";