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feat: set correct min max arms

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Rick Rongen
2020-05-17 20:23:50 +02:00
parent 7172f61394
commit f86beeaecb
1 changed files with 6 additions and 4 deletions
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10
control/walle.py
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@@ -64,7 +64,9 @@ class WallE:
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)
minval = 50 min_arm_r = 60
maxval = 130 max_arm_r = 160 # 80
self.servo_controller.write(SERVO_ARM_L, map_range(up_down, -1.0, 1.0, minval, maxval)) min_arm_l = 20
self.servo_controller.write(SERVO_ARM_R, map_range(left_right, -1.0, 1.0, minval, maxval)) 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))