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feat: map to neck rotate

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Rick Rongen
2020-08-28 11:51:01 +02:00
parent 4d63e621c9
commit 9e65dc749b
1 changed files with 6 additions and 4 deletions
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10
control/walle.py
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@@ -125,7 +125,9 @@ class WallE:
def set_eye_velocity(self, angle: float, distance: float): def set_eye_velocity(self, angle: float, distance: float):
if distance > 1: if distance > 1:
distance = 1 distance = 1
up_down = distance * math.sin(angle) # up_down = distance * math.sin(angle)
left_right = distance * math.cos(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_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)) # 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))