NikolajDanger/Roboteksperimentarium
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

✨

Browse Source
This commit is contained in:
NikolajDanger
2022-10-31 15:12:38 +01:00
parent 81862f8ee3
commit 9cc3b41f87
1 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
drive_to_aruco.py
View File

@ -52,6 +52,7 @@ def main():
angle = np.rad2deg(np.arctan(position[0]/position[2]))
drive_distance = np.sqrt(position[0]**2 + position[2]**2)
print(drive_distance)
if angle < 0:
arlo.go_diff(POWER, POWER, 0, 1)
sleep((abs(angle) * TURN_T)/1000)
@ -61,9 +62,9 @@ def main():
sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
arlo.stop()
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
sleep((drive_distance * DRIVE_T)/1000)
arlo.stop()
# arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
# sleep((drive_distance * DRIVE_T)/1000)
# arlo.stop()
if __name__ == "__main__":