MagPI Robot with Zeroborg and yetiborg-web control pyhton script

Submitted by peter.demharter... on Thu, 07/13/2017 - 14:36

Forums:

Hi,

I just changed from rock candy control to web control with camera.
In the MagPI magazine one should use diddyborg-webyetiweb.py, after download, this file is not available.
So I tried to use yetiWeb.py .... it works so far, but steer works only if I want to drive forward and backward.
Pushing Turn Right: front wheels are running.
Pushing Turn Left: back wheels are running

What does spin left / right really means?
Pushing Spin left: front wheels are running back / back wheels are running forward
Pushing Spin right: front wheels running forward.

I think, I have to change ports on the board leading to the gear motors.

Do you have an idea which one to which ports or can I change it in the pyhton script?

Many thx in advance ...

kind regards

Peter

piborg's picture

piborg

Thu, 07/13/2017 - 16:25

If you pick the robot up and try the buttons you should see the following behaviour:

  • Forward - All motors run forwards
  • Reverse - All motors run backwards
  • Spin left - Right wheels run forward, left wheels run backward
  • Spin right - left wheels run forward, right wheels run backward
  • Turn left - Right wheels run forward, left wheels are stopped
  • Turn right - left wheels run forward, right wheels are stopped

The motor outputs are set by these lines:

            ZB.SetMotor1(-driveRight * maxPower) # Front right
            ZB.SetMotor2(-driveLeft  * maxPower) # Front left
            ZB.SetMotor3(-driveLeft  * maxPower) # Rear left
            ZB.SetMotor4(-driveRight * maxPower) # Rear right

This means the code expects the motors to be wired as:

  • M1 -> Front Right
  • M2 -> Front Left
  • M3 -> Rear Left
  • M4 -> Rear Right

You may also need to swap + and - connections so that all four motors run forwards when Forward is pressed.

peter.demharter...

Sun, 07/16/2017 - 11:56

Hi works,

many thx whereever you are ...

kind regards

Peter

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