From d3db855dad7a0d03b09216f642bf9f411b810960 Mon Sep 17 00:00:00 2001 From: NikolajDanger Date: Mon, 24 Oct 2022 14:52:29 +0200 Subject: [PATCH] :sparkles: --- rally.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/rally.py b/rally.py index c37c517..0a192fc 100644 --- a/rally.py +++ b/rally.py @@ -47,7 +47,7 @@ def careful_forward(drive_time, arlo, careful_range = 600): forward_dist = arlo.read_front_ping_sensor() right_dist = arlo.read_right_ping_sensor() left_dist = arlo.read_left_ping_sensor() - if forward_dist > careful_range and all(x > 200 for x in [right_dist, left_dist]): + if forward_dist > careful_range and all(x > 300 for x in [right_dist, left_dist]): print("not blocked") turning = None arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1) @@ -88,7 +88,7 @@ def main(): if landmark in arucos: break - careful_forward(5, noah) + careful_forward(3, noah) position = cv2.aruco.estimatePoseSingleMarkers( @@ -96,7 +96,7 @@ def main(): )[1][0][0] angle = np.rad2deg(np.arctan(position[0]/position[2])) - drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 10 + drive_distance = np.sqrt(position[0]**2 + position[2]**2) - 20 if drive_distance < 30: break @@ -109,7 +109,7 @@ def main(): time.sleep((abs(angle) * TURN_T * CLOCKWISE_OFFSET)/1000) noah.stop() - if not careful_forward((drive_distance * DRIVE_T)/1000, noah, 200): + if not careful_forward((drive_distance * DRIVE_T)/1000, noah, 300): break if __name__ == "__main__":