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feat: movement for neck top

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Rick Rongen
2020-08-28 11:56:58 +02:00
parent 5f76f9efe0
commit 0c81c1e574
1 changed files with 5 additions and 5 deletions
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10
control/walle.py
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@@ -125,9 +125,9 @@ class WallE:
def set_eye_velocity(self, angle: float, distance: float):
if distance > 1:
distance = 1
# up_down = distance * math.sin(angle)
up_down = distance * math.sin(angle)
left_right = distance * math.cos(angle)
# self.set_servo(SERVO_ARM_L, map_range(up_down, -1.0, 1.0, 50, 130))
# self.set_servo(SERVO_ARM_R, map_range(left_right, -1.0, 1.0, 130, 50))
minmax = SERVO_MIN_MAX[SERVO_NECK_ROTATE]
self.set_servo(SERVO_NECK_ROTATE, map_range(left_right, -1.0, 1.0, minmax.minval, minmax.maxval))
minmax_rotate = SERVO_MIN_MAX[SERVO_NECK_ROTATE]
minmax_necktop = SERVO_MIN_MAX[SERVO_NECK_TOP]
self.set_servo(SERVO_NECK_ROTATE, map_range(left_right, -1.0, 1.0, minmax_rotate.minval, minmax_rotate.maxval))
self.set_servo(SERVO_NECK_TOP, map_range(up_down, -1.0, 1.0, minmax_necktop.minval, minmax_necktop.maxval))