Fixed pending variable and method name changes; added set_speed to differential drive

Author: ksiegall

XRPLib/differential_drive.py

@@ -75,7 +75,7 @@ def get_right_encoder_position(self) -> float:
         return self.right_motor.get_position()
 
 
-    def straight(self, distance: float, speed: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool:
+    def straight(self, distance: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None) -> bool:
         """
         Go forward the specified distance in centimeters, and exit function when distance has been reached.
         Speed is bounded from -1 (reverse at full speed) to 1 (forward at full speed)
@@ -95,7 +95,7 @@ def straight(self, distance: float, speed: float = 0.5, timeout: float = None, m
         """
         # ensure distance is always positive while speed could be either positive or negative
         if distance < 0:
-            speed *= -1
+            max_effort *= -1
             distance *= -1
 
         time_out = Timeout(timeout)
@@ -107,7 +107,7 @@ def straight(self, distance: float, speed: float = 0.5, timeout: float = None, m
             main_controller = PID(
                 kp = 0.5,
                 minOutput = 0.12,
-                maxOutput = speed,
+                maxOutput = max_effort,
                 tolerance = 0.1,
                 toleranceCount = 3,
             )
@@ -159,7 +159,7 @@ def straight(self, distance: float, speed: float = 0.5, timeout: float = None, m
         return not time_out.is_done()
 
 
-    def turn(self, turn_degrees: float, speed: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool:
+    def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = None, main_controller: Controller = None, secondary_controller: Controller = None, use_imu:bool = True) -> bool:
         """
         Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading.
         Speed is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed)
@@ -180,8 +180,8 @@ def turn(self, turn_degrees: float, speed: float = 0.5, timeout: float = None, m
         : rtype: bool
         """
 
-        if speed < 0:
-            speed *= -1
+        if max_effort < 0:
+            max_effort *= -1
             turn_degrees *= -1
 
         time_out = Timeout(timeout)
@@ -193,7 +193,7 @@ def turn(self, turn_degrees: float, speed: float = 0.5, timeout: float = None, m
                 kp = .015,
                 kd = 0.0012,
                 minOutput = 0.25,
-                maxOutput = speed,
+                maxOutput = max_effort,
                 tolerance = 0.5,
                 toleranceCount = 3
             )

XRPLib/encoded_motor.py

@@ -116,22 +116,22 @@ def get_speed(self) -> float:
         # Convert from ticks per 20ms to rpm (60 sec/min, 50 Hz)
         return self.speed*(60*50)/self._encoder.ticks_per_rev
 
-    def set_target_speed(self, target_speed_rpm: float | None = None):
+    def set_speed(self, speed_rpm: float | None = None):
         """
         Sets target speed (in rpm) to be maintained passively
         Call with no parameters to turn off speed control
 
         : param target_speed_rpm: The target speed for the motor in rpm, or None
         : type target_speed_rpm: float, or None
         """
-        if target_speed_rpm is None:
+        if speed_rpm is None:
             self.target_speed = None
             self.set_effort(0)
             return
         # If the update timer is not running, start it at 50 Hz (20ms updates)
         self.updateTimer.init(period=20, callback=lambda t:self._update())
         # Convert from rev per min to ticks per 20ms (60 sec/min, 50 Hz)
-        self.target_speed = target_speed_rpm*self._encoder.ticks_per_rev/(60*50)
+        self.target_speed = speed_rpm*self._encoder.ticks_per_rev/(60*50)
 
     def set_speed_controller(self, new_controller):
         """

XRPLib/encoder.py

@@ -5,9 +5,9 @@
 import time
 
 class Encoder:
-    gearRatio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75
-    ticksPerMotorRotation = 12
-    ticksPerShaftRotation = ticksPerMotorRotation * gearRatio # 585
+    gear_ratio = (30/14) * (28/16) * (36/9) * (26/8) # 48.75
+    ticks_per_motor_shaft_revolution = 12
+    ticks_per_rev = ticks_per_motor_shaft_revolution * gear_ratio # 585
 
     def __init__(self, index, encAPin, encBPin):
         if(abs(encAPin - encBPin) != 1):
@@ -31,7 +31,7 @@ def get_position_ticks(self):
         return ticks
 
     def get_position(self):
-        return self.get_position_ticks() / self.ticksPerShaftRotation
+        return self.get_position_ticks() / self.ticks_per_rev
 
     @rp2.asm_pio(in_shiftdir=rp2.PIO.SHIFT_LEFT, out_shiftdir=rp2.PIO.SHIFT_RIGHT)
     def _encoder():