NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-28 13:58:59 +02:00
parent 8cf1d8dcbd
commit 81d9ae690a
1 changed files with 1 additions and 2 deletions
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drive_between_arucos.py
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@ -61,7 +61,6 @@ def find_arucos(arlo):
sleep((20 * TURN_T)/1000) sleep((20 * TURN_T)/1000)
arlo.stop() arlo.stop()
for key, value in aruco_dict.items(): for key, value in aruco_dict.items():
print(rot, value)
aruco_dict[key] = np.dot(rot, value) aruco_dict[key] = np.dot(rot, value)
return np.array(list(aruco_dict.values())[:2]) return np.array(list(aruco_dict.values())[:2])
@ -74,7 +73,7 @@ def main():
position = [ position = [
np.average(aruco_positions[:,0]), np.average(aruco_positions[:,0]),
np.average(aruco_positions[:,2]) np.average(aruco_positions[:,1])
] ]
angle = np.rad2deg(np.arctan(position[0]/position[1])) angle = np.rad2deg(np.arctan(position[0]/position[1]))