From 4843c0cf7d68d9c2f5b3ff9ec3fbbc576041d183 Mon Sep 17 00:00:00 2001 From: Rick Rongen Date: Fri, 28 Aug 2020 13:48:35 +0200 Subject: [PATCH] feat: updated tick count and changed inversion of neck movement --- control/walle.py | 4 ++-- tickworker.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/control/walle.py b/control/walle.py index fd2c767..dcf7eb5 100644 --- a/control/walle.py +++ b/control/walle.py @@ -126,9 +126,9 @@ 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) * -1 left_right = distance * math.cos(angle) 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)) + self.set_servo(SERVO_NECK_TOP, map_range(up_down, -1.0, 1.0, minmax_necktop.minval, minmax_necktop.maxval)) diff --git a/tickworker.py b/tickworker.py index 1ba0a7f..689fdda 100644 --- a/tickworker.py +++ b/tickworker.py @@ -7,7 +7,7 @@ from redis import Redis from control.walle import WallE -INTERVAL_TICK = 0.0125 # 20/s +INTERVAL_TICK = 0.025 # 40/s class EventListener(Thread):