From 69508f3556c612d1df60952dc9b3471422e9d7d1 Mon Sep 17 00:00:00 2001
From: Rick Rongen <rickrongen@outlook.com>
Date: Sun, 17 May 2020 20:03:14 +0200
Subject: [PATCH] feat: fixed incorrect mapping eyes

---
 control/walle.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/control/walle.py b/control/walle.py
index 6a9b0ce..538878f 100644
--- 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))