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feat: fixed logic of drive

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Rick Rongen
2020-05-18 20:11:46 +02:00
parent f86beeaecb
commit c6b33683b7
1 changed files with 2 additions and 2 deletions
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4
control/walle.py
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@@ -48,10 +48,10 @@ class WallE:
velocity_r = sin_angle * force velocity_r = sin_angle * force
velocity_l = cos_angle * force velocity_l = cos_angle * force
elif cos_angle < 0 and sin_angle > 0: elif cos_angle < 0 and sin_angle > 0:
if cos_angle < sin_angle: if abs(cos_angle) < sin_angle:
velocity_r = 1 - sin_angle * force velocity_r = 1 - sin_angle * force
velocity_l = sin_angle * force velocity_l = sin_angle * force
elif cos_angle > abs(sin_angle): elif cos_angle > sin_angle:
velocity_r = sin_angle * force velocity_r = sin_angle * force
velocity_l = cos_angle * force velocity_l = cos_angle * force
else: else: