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feat: fixed incorrect mapping eyes

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Rick Rongen
2020-05-17 20:03:14 +02:00
parent 12b6fbcc1c
commit 69508f3556
1 changed files with 5 additions and 1 deletions
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6
control/walle.py
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@@ -59,7 +59,11 @@ class WallE:
self.motor_a.set(velocity_l) self.motor_a.set(velocity_l)
self.motor_b.set(velocity_r) 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 minval = 50
maxval = 130 maxval = 130
self.servo_controller.write(SERVO_ARM_L, map_range(up_down, 0.0, 1.0, minval, maxval)) self.servo_controller.write(SERVO_ARM_L, map_range(up_down, 0.0, 1.0, minval, maxval))