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Slow down correct motor when turning #133

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Slow down correct motor when turning #133

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20 changes: 10 additions & 10 deletions picarx/picarx.py
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Original file line number Diff line number Diff line change
Expand Up @@ -181,14 +181,14 @@ def backward(self, speed):
if abs_current_angle > self.DIR_MAX:
abs_current_angle = self.DIR_MAX
power_scale = (100 - abs_current_angle) / 100.0
if (current_angle / abs_current_angle) > 0:
self.set_motor_speed(1, -1*speed)
if current_angle > 0:
self.set_motor_speed(1, -speed)
self.set_motor_speed(2, speed * power_scale)
else:
self.set_motor_speed(1, -1*speed * power_scale)
self.set_motor_speed(1, -speed * power_scale)
self.set_motor_speed(2, speed )
else:
self.set_motor_speed(1, -1*speed)
self.set_motor_speed(1, -speed)
self.set_motor_speed(2, speed)

def forward(self, speed):
Expand All @@ -198,15 +198,15 @@ def forward(self, speed):
if abs_current_angle > self.DIR_MAX:
abs_current_angle = self.DIR_MAX
power_scale = (100 - abs_current_angle) / 100.0
if (current_angle / abs_current_angle) > 0:
self.set_motor_speed(1, 1*speed * power_scale)
self.set_motor_speed(2, -speed)
else:
if current_angle > 0:
self.set_motor_speed(1, speed)
self.set_motor_speed(2, -1*speed * power_scale)
self.set_motor_speed(2, -speed * power_scale)
else:
self.set_motor_speed(1, speed * power_scale)
self.set_motor_speed(2, -speed)
else:
self.set_motor_speed(1, speed)
self.set_motor_speed(2, -1*speed)
self.set_motor_speed(2, -speed)

def stop(self):
'''
Expand Down