NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-10 14:14:01 +02:00
parent 0bad669ba5
commit b7ccb84c19
1 changed files with 2 additions and 1 deletions
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selflocalization/selflocalize.py
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@ -165,7 +165,8 @@ def drive_towards_middle(est_pose, arlo):
print("relative_pos", relative_pos) print("relative_pos", relative_pos)
angle = np.arctan(relative_pos[1]/relative_pos[0]) angle = np.arctan(relative_pos[1]/relative_pos[0])
print(angle) print(angle)
turn_angle = np.mod(np.rad2deg(angle - theta), 360) turn_angle = np.mod(np.rad2deg(angle - theta) - 180, 360)
print(turn_angle)
drive_distance = np.sqrt(position[0]**2 + position[1]**2) drive_distance = np.sqrt(position[0]**2 + position[1]**2)
if turn_angle < 180: if turn_angle < 180:
arlo.go_diff(POWER, POWER, 0, 1) arlo.go_diff(POWER, POWER, 0, 1)