motioncontroller.py 文件源码

def turnToAngle(self, angleTarget, omega = pi):
        self.setMode('TURN')
        self.targetV = 0
        self.targetOmega = 0
        omegaMin = pi / 8.
        angleTol = pi/180.
        loopTimer = Timer()
        while abs(self.odometer.angleRelToPhi(angleTarget)) > angleTol:
            angle = self.odometer.angleRelToPhi(angleTarget)
            if angle > pi / 6:
                self.targetOmega = omega
            elif angle > 0:
                self.targetOmega = omegaMin
            elif angle < -pi / 6:
                self.targetOmega = -omega
            else:
                self.targetOmega = -omegaMin
            loopTimer.sleepToElapsed(self.timeStep)
        self.stop()

########################################################################
##  Other methods
########################################################################

    # Kill thread running ._move() method