From f86beeaecb359b535d526c35de59237ded787d86 Mon Sep 17 00:00:00 2001 From: Rick Rongen Date: Sun, 17 May 2020 20:23:50 +0200 Subject: [PATCH] feat: set correct min max arms --- control/walle.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/control/walle.py b/control/walle.py index 0486cae..56ecf38 100644 --- a/control/walle.py +++ b/control/walle.py @@ -64,7 +64,9 @@ class WallE: 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, -1.0, 1.0, minval, maxval)) - self.servo_controller.write(SERVO_ARM_R, map_range(left_right, -1.0, 1.0, minval, maxval)) + min_arm_r = 60 + max_arm_r = 160 # 80 + min_arm_l = 20 + max_arm_l = 100 # 80 + self.servo_controller.write(SERVO_ARM_L, map_range(up_down, -1.0, 1.0, min_arm_l, max_arm_l)) + self.servo_controller.write(SERVO_ARM_R, map_range(left_right, -1.0, 1.0, min_arm_r, max_arm_r))