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Add the ability to reset the position of the motors in odometry_start() #758

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Add the ability to reset the position of the motors in odometry_start() #758

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5 changes: 4 additions & 1 deletion ev3dev2/motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
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