max/masters-project
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update

Browse Source
This commit is contained in:
Max 2021-05-29 22:27:28 +01:00
parent 37a8a1a91d
commit 8357ec8f78
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
odrive_server_main.py
View File

@ -50,10 +50,10 @@ class Server:
self.init_odrive() self.init_odrive()
self.control_loop() self.control_loop()
def init_odrive(self): def init_odrive(self) -> None:
self.drive = Odrive() self.drive = Odrive()
def control_loop(self): def control_loop(self) -> None:
while True: while True:
data, _ = self.sock.recvfrom(1024) data, _ = self.sock.recvfrom(1024)
print(f"Received Message: {data}, type: {type(data)}") print(f"Received Message: {data}, type: {type(data)}")
@ -61,7 +61,7 @@ class Server:
angle_0, angle_1 = self.calculate_angles(data[0], data[1]) angle_0, angle_1 = self.calculate_angles(data[0], data[1])
self.drive.goto_raw(angle_0, angle_1) self.drive.goto_raw(angle_0, angle_1)
def calculate_angles(self, target_pos_x, target_pos_y): def calculate_angles(self, target_pos_x, target_pos_y) -> float:
x = (target_pos_x + self.x_offset) * self.x_multiplier x = (target_pos_x + self.x_offset) * self.x_multiplier
y = (target_pos_y + self.y_offset) * self.y_multiplier y = (target_pos_y + self.y_offset) * self.y_multiplier
pi = 3.142 pi = 3.142