NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-11-02 14:27:43 +01:00
parent 71b7c67fff
commit 5fdcf1c0dc
1 changed files with 2 additions and 2 deletions
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rally2.py
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@@ -18,7 +18,7 @@ LANDMARK_POSITIONS = {
POWER = 70 POWER = 70
TURN_T = 9.1 # 1 degree TURN_T = 9.8 # 1 degree
DRIVE_T = 22 # 1 centimeter DRIVE_T = 22 # 1 centimeter
RIGHT_WHEEL_OFFSET = 4 RIGHT_WHEEL_OFFSET = 4
@@ -56,7 +56,7 @@ def look_around(noah, particles, cam, est_pose):
print( print(
"Object ID = ", objectIDs[i], ", Distance = ", dists[i], ", angle = ", angles[i]) "Object ID = ", objectIDs[i], ", Distance = ", dists[i], ", angle = ", angles[i])
if objectIDs[i] in LANDMARKS: if objectIDs[i] in LANDMARKS:
landmark_values.append((objectIDs[i], dists[i], angles[i])) landmark_values.append((objectIDs[i], dists[i] + 22.5, angles[i]))
# Compute particle weights # Compute particle weights
for p in particles: for p in particles: