From 9e65dc749b13aefd54602e211a08a7ef9ec1976b Mon Sep 17 00:00:00 2001 From: Rick Rongen Date: Fri, 28 Aug 2020 11:51:01 +0200 Subject: [PATCH] feat: map to neck rotate --- control/walle.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/control/walle.py b/control/walle.py index 6ae8236..eaa24cc 100644 --- a/control/walle.py +++ b/control/walle.py @@ -125,7 +125,9 @@ class WallE: 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) - 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)) + # 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(angle, -1.0, 1.0, minmax.minval, minmax.maxval))