この方法が正しい方法かどうか知りたいのですが、北を向いているロボットを、この場合は赤いボールであるオブジェクトの方向に回転させたいと思います。
以下にグリッドとボールの位置を示します
そして、これに対する私のコードは次のとおりです。
def turn_to(brick, new_x, new_y, old_x, old_y, angle):
delta_x = new_x - old_x
print delta_x
delta_y = new_y - old_y
print delta_y
roboCturn = base * pi
Circumference = diameter * pi
if(angle > 315 or angle < 45):
#tested
if (delta_x < 0 and delta_y == 0):
#180 degrees tested
angle_rad = math.radians(180)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x == 0 and delta_y > 0):
#90 degrees right tested
angle_rad = math.radians(90)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x == 0 and delta_y < 0):
#90 degrees left tested
angle_rad = math.radians(90)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x > 0 and delta_y > 0):
# degrees in 1st quadrant tested
angle_rad = math.atan2(delta_y, delta_x)
angle_deg = 90 - ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x > 0 and delta_y < 0):
#degrees in 4th quadrant tested
angle_rad = math.atan2((math.fabs(delta_y)), delta_x)
angle_deg = 90 - ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x < 0 and delta_y > 0):
#degrees in 2nd quadrant tested
angle_rad = math.atan2(delta_y, (math.fabs(delta_x)))
angle_deg = 90 + ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x < 0 and delta_y < 0):
#degrees in 3rd quadrant tested
angle_rad = math.atan2((math.fabs(delta_y)), (math.fabs(delta_x)))
angle_deg = 90 + ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
else:
left.weak_turn(power=0, tacho_units=0)
right.weak_turn(power = 0, tacho_units=0)
elif(angle > 45 and angle < 135):
#tested
if (delta_x == 0 and delta_y < 0):
#180 degrees tested
angle_rad = math.radians(180)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x < 0 and delta_y == 0):
#90 degrees right tested
angle_rad = math.radians(90)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x > 0 and delta_y == 0):
#90 degrees left tested
angle_rad = math.radians(90)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x > 0 and delta_y > 0):
# degrees in 1st quadrant tested
angle_rad = math.atan2(delta_y, delta_x)
angle_deg = 90 - ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x > 0 and delta_y < 0):
#degrees in 4th quadrant tested
angle_rad = math.atan2((math.fabs(delta_y)), delta_x)
angle_deg = 90 + ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x < 0 and delta_y > 0):
#degrees in 2nd quadrant tested
angle_rad = math.atan2(delta_y, (math.fabs(delta_x)))
angle_deg = 90 - ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x < 0 and delta_y < 0):
#degrees in 3rd quadrant tested
angle_rad = math.atan2((math.fabs(delta_y)), (math.fabs(delta_x)))
angle_deg = 90 + ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
else:
left.weak_turn(power=0, tacho_units=0)
right.weak_turn(power = 0, tacho_units=0)
elif(angle > 135 and angle < 225):
#tested
if (delta_x > 0 and delta_y == 0):
#180 degrees tested
angle_rad = math.radians(180)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x == 0 and delta_y < 0):
#90 degrees right tested
angle_rad = math.radians(90)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x == 0 and delta_y > 0):
#90 degrees left tested
angle_rad = math.radians(90)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x > 0 and delta_y > 0):
# degrees in 1st quadrant tested
angle_rad = math.atan2(delta_y, delta_x)
angle_deg = 90 + ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x > 0 and delta_y < 0):
#degrees in 4th quadrant tested
angle_rad = math.atan2((math.fabs(delta_y)), delta_x)
angle_deg = 90 + ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x < 0 and delta_y > 0):
#degrees in 2nd quadrant tested
angle_rad = math.atan2(delta_y, (math.fabs(delta_x)))
angle_deg = 90 - ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x < 0 and delta_y < 0):
#degrees in 3rd quadrant tested
angle_rad = math.atan2((math.fabs(delta_y)), (math.fabs(delta_x)))
angle_deg = 90 - ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
else:
left.weak_turn(power=0, tacho_units=0)
right.weak_turn(power = 0, tacho_units=0)
elif(angle > 225 and angle < 315):
#tested
if (delta_x == 0 and delta_y > 0):
#180 degrees tested
angle_rad = math.radians(180)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x > 0 and delta_y == 0):
#90 degrees right tested
angle_rad = math.radians(90)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x < 0 and delta_y == 0):
#90 degrees left tested
angle_rad = math.radians(90)
angle_deg = (angle_rad) * (180/pi)
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif (delta_x > 0 and delta_y > 0):
# degrees in 1st quadrant tested
angle_rad = math.atan2(delta_y, delta_x)
angle_deg = 90 + ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif(delta_x > 0 and delta_y < 0):
#degrees in 4th quadrant tested
angle_rad = math.atan2((math.fabs(delta_y)), delta_x)
angle_deg = 90 - ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
left.weak_turn(power=power, tacho_units=tachoUnits)
right.weak_turn(power=-power, tacho_units=tachoUnits)
elif(delta_x < 0 and delta_y > 0):
#degrees in 2nd quadrant tested
angle_rad = math.atan2(delta_y, (math.fabs(delta_x)))
angle_deg = 90 + ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
elif(delta_x < 0 and delta_y < 0):
#degrees in 3rd quadrant tested
angle_rad = math.atan2((math.fabs(delta_y)), (math.fabs(delta_x)))
angle_deg = 90 - ((angle_rad) * (180/pi))
print angle_deg
distanceTurned = (angle_deg/360) * (roboCturn)
numberRotations = (distanceTurned) / (Circumference)
tachoUnits = (numberRotations) * tacho
right.weak_turn(power=power, tacho_units=tachoUnits)
left.weak_turn(power=-power, tacho_units=tachoUnits)
else:
left.weak_turn(power=0, tacho_units=0)
right.weak_turn(power = 0, tacho_units=0)
私はこれがこれを解決する正しい方法であるか知りたいだけですか？または、以前に投稿した質問に基づいて値を渡すため、代替手段はありますか。ありがとう
よろしくエドワード