NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-31 15:12:38 +01:00
parent 81862f8ee3
commit 9cc3b41f87
1 changed files with 4 additions and 3 deletions
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7
drive_to_aruco.py
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@ -52,6 +52,7 @@ def main():
angle = np.rad2deg(np.arctan(position[0]/position[2])) angle = np.rad2deg(np.arctan(position[0]/position[2]))
drive_distance = np.sqrt(position[0]**2 + position[2]**2) drive_distance = np.sqrt(position[0]**2 + position[2]**2)
print(drive_distance)
if angle < 0: if angle < 0:
arlo.go_diff(POWER, POWER, 0, 1) arlo.go_diff(POWER, POWER, 0, 1)
sleep((abs(angle) * TURN_T)/1000) sleep((abs(angle) * TURN_T)/1000)
@ -61,9 +62,9 @@ def main():
sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000) sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
arlo.stop() arlo.stop()
arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) # arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
sleep((drive_distance * DRIVE_T)/1000) # sleep((drive_distance * DRIVE_T)/1000)
arlo.stop() # arlo.stop()
if __name__ == "__main__": if __name__ == "__main__":