NikolajDanger/Roboteksperimentarium
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

✨

Browse Source
This commit is contained in:
NikolajDanger
2022-11-02 15:08:31 +01:00
parent e974a0bb27
commit 374c321c4c
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
rally.py
View File

@ -40,8 +40,8 @@ def find_aruco(image):
def careful_forward(drive_time, arlo, careful_range = 600): def careful_forward(drive_time, arlo, careful_range = 600):
start = time.time() start = time.time()
if drive_time > 2.5: if drive_time > 2:
drive_time = 2.5 drive_time = 2
hit_something = True hit_something = True
else: else:
hit_something = False hit_something = False
@ -99,7 +99,7 @@ def main():
np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF
)[1][0][0] )[1][0][0]
angle = np.rad2deg(np.arctan(position[0]/position[2])) - 5 angle = np.rad2deg(np.arctan(position[0]/position[2])) - 7
drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 100 drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 100
if angle < 0: if angle < 0: