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2022-11-02 15:01:03 +01:00
parent 76a459fc9f
commit 073897c485
1 changed files with 2 additions and 1 deletions
--- a/rally.py
+++ b/rally.py
@ -117,9 +117,10 @@ def main():
                    position = cv2.aruco.estimatePoseSingleMarkers(
                        np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF
                    )[1][0][0]
+                    drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 30
                    noah.go_diff(POWER, POWER, 1, 1)
                    print("Final bit")
-                    time.sleep((70 * DRIVE_T)/1000)
+                    time.sleep((drive_distance * DRIVE_T)/1000)
                    noah.stop()

                    break