NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-11-02 14:43:44 +01:00
parent 5fdcf1c0dc
commit 02c2c04ca4
2 changed files with 12 additions and 3 deletions
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13
rally.py
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@ -100,7 +100,7 @@ def main():
)[1][0][0] )[1][0][0]
angle = np.rad2deg(np.arctan(position[0]/position[2])) angle = np.rad2deg(np.arctan(position[0]/position[2]))
drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 30 drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 100
if drive_distance < 30: if drive_distance < 30:
break break
@ -114,7 +114,16 @@ def main():
noah.stop() noah.stop()
if not careful_forward((drive_distance * DRIVE_T)/1000, noah, 400): if not careful_forward((drive_distance * DRIVE_T)/1000, noah, 400):
break arucos = find_aruco(noah.take_photo())
if landmark in arucos:
position = cv2.aruco.estimatePoseSingleMarkers(
np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF
)[1][0][0]
noah.go_diff(POWER, POWER, 1, 1)
time.sleep((90 * DRIVE_T)/1000)
noah.stop()
break
if __name__ == "__main__": if __name__ == "__main__":
main() main()

2
rally2.py
View File

@ -18,7 +18,7 @@ LANDMARK_POSITIONS = {
POWER = 70 POWER = 70
TURN_T = 9.8 # 1 degree TURN_T = 9.6 # 1 degree
DRIVE_T = 22 # 1 centimeter DRIVE_T = 22 # 1 centimeter
RIGHT_WHEEL_OFFSET = 4 RIGHT_WHEEL_OFFSET = 4