我想知道这种方法是解决这个问题的正确方法吗？我想将面向北的机器人旋转到物体在这种情况下为红球的方向。
下面显示了网格和球的位置
这是我的代码：
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)
我只想知道这是解决这个问题的正确方法吗？还是有其他选择，因为我会根据我之前发布的问题传递值。谢谢
问候爱德华