This file contains code to perform a nerf turret duel. More...

Functions
def	main.run_motor (motor, encoder, controller)

def	main.aim (camera)

Variables
tuple	main.MEC1_tickratio = (194000/180)

float	main.MEC1_gain = 0.7

tuple	main.MEC2_tickratio = (2300/100)

float	main.MEC2_gain = 0.7

int	main.horiz_correction = 0

int	main.vert_correction = 15

int	main.x_fov = 55

int	main.y_fov = 35

int	main.mask_threshold = 75

int	main.width = 32

int	main.length = 24

float	main.angle_prescale = 0.5

servo_driver	main.servo = servo_driver.ServoDriver('D13', 2, 1)

Pin	main.trigger_pin = Pin('D12', Pin.OUT_PP)

motor_driver	main.M1 = motor_driver.MotorDriver('A10', 'B4', 'B5', 3, 1, 2)

encoder_reader	main.E1 = encoder_reader.EncoderReader('C6', 'C7', 8, 1, 2)

closedloopcontrol	main.C1 = closedloopcontrol.cl_loop(MEC1_gain, 0)

motor_driver	main.M2 = motor_driver.MotorDriver('C1', 'A0', 'A1', 5, 1, 2)

encoder_reader	main.E2 = encoder_reader.EncoderReader('B6', 'B7', 4, 1, 2)

closedloopcontrol	main.C2 = closedloopcontrol.cl_loop(MEC2_gain, 0)

I2C	main.i2c_bus = I2C(1)

int	main.i2c_address = 0x33

mlx_cam	main.camera = mlx_cam.MLX_Cam(i2c_bus)

int	main.ctrl_reg_val = 0b0001101110000001

int	main.S0_INIT = 0

int	main.S1_TURN180 = 1

int	main.S2_AIM = 2

int	main.S3_ADJUST = 3

int	main.S4_SHOOT = 4

int	main.S5_SAFE = 5

int	main.state = S0_INIT

	main.try :

time	main.time_start180 = time.ticks_ms()

	main.x_target_stpt

	main.y_target_stpt

time	main.adjust_time = time.ticks_ms()

	main.else :

Detailed Description

This file contains code to perform a nerf turret duel.

Functions