diff --git a/drive_between_arucos.py b/drive_between_arucos.py index b5cbafd..761d23c 100644 --- a/drive_between_arucos.py +++ b/drive_between_arucos.py @@ -74,9 +74,10 @@ def main(): np.average(aruco_positions[:,0]), np.average(aruco_positions[:,1]) ] + print(position) angle = np.rad2deg(np.arctan(position[1]/position[0])) - drive_distance = np.sqrt(position[0]**2 + position[1]**2) + drive_distance = np.sqrt(position[0]**2 + position[1]**2) + 22.5 if angle < 0: arlo.go_diff(POWER, POWER, 0, 1) sleep((abs(angle) * TURN_T)/1000)