From 0c81c1e5744c1872020f356f29c9308bc200baad Mon Sep 17 00:00:00 2001 From: Rick Rongen Date: Fri, 28 Aug 2020 11:56:58 +0200 Subject: [PATCH] feat: movement for neck top --- control/walle.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/control/walle.py b/control/walle.py index 778ea25..826d062 100644 --- a/control/walle.py +++ b/control/walle.py @@ -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))