feat: fixed incorrect mapping eyes

2020-05-17 20:03:14 +02:00
parent 12b6fbcc1c
commit 69508f3556
1 changed files with 5 additions and 1 deletions
--- a/control/walle.py
+++ b/control/walle.py
@@ -59,7 +59,11 @@ class WallE:
        self.motor_a.set(velocity_l)
        self.motor_b.set(velocity_r)

-    def set_eye_velocity(self, up_down: float, left_right: float):
+    def set_eye_velocity(self, angle: float, distance: float):
+        if distance > 1:
+            distance = 1
+        up_down = distance * math.sin(angle)
+        left_right = distance * math.cos(angle)
        minval = 50
        maxval = 130
        self.servo_controller.write(SERVO_ARM_L, map_range(up_down, 0.0, 1.0, minval, maxval))