From 4a38a6760ae0fe1c8ba6d7fe341723cd8d74d649 Mon Sep 17 00:00:00 2001
From: x <xver@yahoo.com>
Date: Tue, 18 Aug 2020 21:08:56 -0400
Subject: [PATCH] Add the ability to reset the position of the motors in
odometry_start()
---
ev3dev2/motor.py | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/ev3dev2/motor.py b/ev3dev2/motor.py
index 6e61ecf..78e8939 100644
--- a/ev3dev2/motor.py
+++ b/ev3dev2/motor.py
@@ -2695,7 +2695,7 @@ def turn_to_angle(self, speed, angle_target_degrees, brake=True, block=True, err
def odometry_coordinates_log(self):
log.debug("%s: odometry angle %s at (%d, %d)" % (self, math.degrees(self.theta), self.x_pos_mm, self.y_pos_mm))
- def odometry_start(self, theta_degrees_start=90.0, x_pos_start=0.0, y_pos_start=0.0, sleep_time=0.005): # 5ms
+ def odometry_start(self, theta_degrees_start=90.0, x_pos_start=0.0, y_pos_start=0.0, sleep_time=0.005, reset_position=False): # 5ms
"""
Ported from:
http://seattlerobotics.org/encoder/200610/Article3/IMU%20Odometry,%20by%20David%20Anderson.htm
@@ -2704,6 +2704,9 @@ def odometry_start(self, theta_degrees_start=90.0, x_pos_start=0.0, y_pos_start=
which will set odometry_thread_run to False
"""
def _odometry_monitor():
+ if (reset_postion == True): # resets the positions of the motors for a clena slate
+ self.left_motor.position = 0
+ self.right_motor.position = 0
left_previous = 0
right_previous = 0
self.theta = math.radians(theta_degrees_start) # robot heading