✨

rally.py

@@ -100,7 +100,7 @@ def main():
             )[1][0][0]
 
             angle = np.rad2deg(np.arctan(position[0]/position[2]))
-            drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 100
+            drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 120
             if drive_distance < 30:
                 break
 
@@ -120,6 +120,7 @@ def main():
                         np.array([arucos[landmark]]), 14.5, CAMERA_MATRIX, DIST_COEF
                     )[1][0][0]
                     noah.go_diff(POWER, POWER, 1, 1)
+                    print("Final bit")
                     time.sleep((90 * DRIVE_T)/1000)
                     noah.stop()