pi2go - 将机器人移动 90º 或仅向前移动 10 厘米并停止？

Question

I bought a pi2go robot, and it's fantastic, but I have some questions, I want to make the robot

1. Spin Left/Right just 90º degrees and stop
2. Move Foward/Backward just 10 cm and stop

I wanted to do 4 scripts in python just to do this like left.py , forward.py .

In the pi2go helpfiles there is a script that allows you to control the robot with the keyboard, but I don't want that I just want to call for example sudo python left.py one time and exit.

Here is the pi2go example :

import pi2go, time

import sys
import tty
import termios

UP = 0
DOWN = 1
RIGHT = 2
LEFT = 3

def readchar():
    fd = sys.stdin.fileno()
    old_settings = termios.tcgetattr(fd)
    try:
        tty.setraw(sys.stdin.fileno())
        ch = sys.stdin.read(1)
    finally:
        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
    if ch == '0x03':
        raise KeyboardInterrupt
    return ch

def readkey(getchar_fn=None):
    getchar = getchar_fn or readchar
    c1 = getchar()
    if ord(c1) != 0x1b:
        return c1
    c2 = getchar()
    if ord(c2) != 0x5b:
        return c1
    c3 = getchar()
    return ord(c3) - 65  # 0=Up, 1=Down, 2=Right, 3=Left arrows

speed = 30

pi2go.init()

try:
    while True:
        keyp = readkey()
        if keyp == 'w' or keyp == UP:
            pi2go.forward(speed)
            print 'Forward', speed
        elif keyp == 's' or keyp == DOWN:
            pi2go.reverse(speed)
            print 'Backward', speed
        elif keyp == 'd' or keyp == RIGHT:
            pi2go.spinRight(speed)
            print 'Spin Right', speed
        elif keyp == 'a' or keyp == LEFT:
            pi2go.spinLeft(speed)
            print 'Spin Left', speed
        elif keyp == '.' or keyp == '>':
            speed = min(100, speed+10)
            print 'Speed+', speed
        elif keyp == ',' or keyp == '<':
            speed = max (0, speed-10)
            print 'Speed-', speed
        elif keyp == ' ':
            pi2go.stop()
            print 'Stop'
        elif ord(keyp) == 3:
            break


    pi2go.cleanup()

But I want to create just one script that does this and exits, like:

pi2go.spinLeft(100) 
pi2go.stop()

Answer 1

I think your problem is that you're not giving the motors any time to turn. If I look at your code snippet, you're telling the motors to spin left, and then immediately stopping the motors.

Try doing something like:

import time
import pi2go

pi2go.spinLeft(100)
time.sleep(1)
pi2go.stop()

to give the motors time to actually do their thing.

Answer 2

You left out the initialization command pi2go.init() , and it looks like you also left out the all-important import statement that imports the pi2go module.

This should work:

import pi2go

pi2go.init()
pi2go.spinLeft(100) 
pi2go.stop()

pi2go.cleanup()

Obviously, I can't test this code... unless you buy me a robot. :)