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2022-09-28 13:36:46 +02:00
parent 94c7bf1d35
commit 76f7e922cc
1 changed files with 2 additions and 2 deletions
--- a/drive_between_arucos.py
+++ b/drive_between_arucos.py
@ -64,8 +64,8 @@ def main():
        np.average(aruco_positions[:,2])
    ]

-    angle = np.rad2deg(np.arctan(position[0]/position[2]))
-    drive_distance = np.sqrt(position[0]**2 + position[2]**2)
+    angle = np.rad2deg(np.arctan(position[0]/position[1]))
+    drive_distance = np.sqrt(position[0]**2 + position[1]**2)
    if angle < 0:
        arlo.go_diff(POWER, POWER, 0, 1)
        sleep((abs(angle) * TURN_T)/1000)