wheel class methods

electrical_code/drive/movement_2motors/movement_2motors.ino

@@ -6,6 +6,7 @@ int leftMotor2 = 7;
 int rightMotor1 = 6;
 int rightMotor2 = 5;
 
+int direction;
 int angle;
 int dist;
 String inputString;
@@ -92,13 +93,24 @@ void  loop() {
   if (Serial.available() > 0) {
     inputString = Serial.readStringUntil('\n');
   }
+  // 1 character - direction (1 as left and 0 as right)
   // 3 characters - angle
   // 3 characters - distance
-  angle = inputString.substring(0, 3).toInt();
-  dist = inputString.substring(3, 7).toInt();
+  direction = inputString.substring(0, 1).toInt();
+  angle = inputString.substring(1, 4).toInt();
+  String dist_str = inputString.substring(4, 8);
+  while (dist_str.length() < 3) {
+    dist_str = "0" + dist_str;
+  }
+  dist = dist_str.toInt();
 
-  turnRight(angle * 100);
-  goForward(dist * 100);
+  if(direction == 1){
+    turnLeft(angle * 10);
+  }
+  else{
+    turnRight(angle * 10);
+  }
+  goForward(dist * 10);
 
 }
 

electrical_code/drive/movement_2motors/test.py

@@ -1,4 +1,4 @@
-import serial.tools
+import serial
 import time
 import sys
 

electrical_code/wheels.py

@@ -5,16 +5,33 @@ class Wheels:
     def __init__(self, port_num):
         self.arduino = serial.Serial(port=port_num, baudrate=115200, timeout=0.1)
 
-    def write_read(self, x):
+    def write_serial(self, x):
         self.arduino.write(bytes(x, 'utf-8'))
         time.sleep(0.05)
 
-    def move(self, angle, dist):
+    def move(self, dir, angle, dist):
+        direction_str = str(dir)
         angle_str = str(angle).zfill(3)
         dist_str = str(dist).zfill(3)
-        command = angle_str + dist_str
-        self.write_read(command)
+        command = dir + angle_str + dist_str
+        self.write_serial(command)
+
+    def turnRight(self, angle):
+        command = "0" + str(angle) + "000"
+        self.write_serial(command)
+
+    def turnLeft(self, angle):
+        command = "1" + str(angle) + "000"
+        self.write_serial(command)
+
+    def goForward(self, dist):
+        command = "0000" + str(dist) # direction doesn't matter
+        self.write_serial(command)
+
+    def goBackward(self, dist):
+        command = "0000" + str(dist) # direction doesn't matter
+        self.write_serial(command)
 
 if __name__ == "__main__":
     myFirstWheel = Wheels("your_port_number_here")
-    myFirstWheel.move(angle_value, distance_value)
+    myFirstWheel.move(direction, angle_value, distance_value)