Telos4/RoboRally
1
0
Fork 1
Code Issues Pull Requests Releases Wiki Activity

changed marker ids

Browse Source
This commit is contained in:
Simon Pirkelmann 2019-07-09 19:42:19 +02:00
parent d985b830b9
commit 15da18f949
1 changed files with 9 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
remote_control/position_controller.py
View File

@ -52,16 +52,16 @@ class Track:
def __init__(self): def __init__(self):
# ids in clockwise direction # ids in clockwise direction
self.inner = OrderedDict() self.inner = OrderedDict()
self.inner[5] = None
self.inner[8] = None
self.inner[7] = None
self.inner[1] = None self.inner[1] = None
self.inner[2] = None
self.inner[3] = None
self.inner[4] = None
self.outer = OrderedDict() self.outer = OrderedDict()
self.outer[11] = None self.outer[5] = None
self.outer[2] = None self.outer[6] = None
self.outer[4] = None self.outer[7] = None
self.outer[0] = None self.outer[8] = None
self.track_complete = False self.track_complete = False
@ -369,8 +369,9 @@ class RemoteController:
markers_out = self.track.outer.values() markers_out = self.track.outer.values()
# find targets: # find targets:
lamb = 0.3
for i in range(0,4): for i in range(0,4):
p = (np.array(markers_in[i]) + np.array(markers_out[i]))/2.0 p = np.array(markers_in[i]) + lamb * (np.array(markers_out[i]) - np.array(markers_in[i]))
targets[i] = (p[0],p[1], 0.0) targets[i] = (p[0],p[1], 0.0)
auto_control = False auto_control = False