NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-10 14:16:47 +02:00
parent b7ccb84c19
commit 642591ecc4
1 changed files with 3 additions and 2 deletions
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5
selflocalization/selflocalize.py
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@ -160,12 +160,13 @@ def drive_towards_middle(est_pose, arlo):
position = np.array([est_pose.x, est_pose.y])
theta = est_pose.theta
print(np.rad2deg(theta))
relative_pos = middle - position
print("relative_pos", relative_pos)
angle = np.arctan(relative_pos[1]/relative_pos[0])
angle = np.rad2deg(np.arctan(relative_pos[1]/relative_pos[0]))
print(angle)
turn_angle = np.mod(np.rad2deg(angle - theta) - 180, 360)
turn_angle = np.mod(angle - np.rad2deg(theta) - 180, 360)
print(turn_angle)
drive_distance = np.sqrt(position[0]**2 + position[1]**2)
if turn_angle < 180: