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Max 2021-09-21 12:44:59 +01:00
parent 6cd563a1ab
commit 41e90b0def
2 changed files with 3 additions and 3 deletions
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4
Control/Pi/dronekit_class.py
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@ -61,7 +61,7 @@ class DroneInterface:
self.estop_engaged = False self.estop_engaged = False
self.log.info("Connected to ardurover") self.log.info("Connected to ardurover")
self.pallet_proximity_sensor = PalletProximity() self.pallet_proximity_sensor = PalletProximity()
self.pallet_min_distance = 20 # TODO: calibrate this self.pallet_min_distance = 22 # TODO: calibrate this
self.log.info("Connected to pallet proximity sensor") self.log.info("Connected to pallet proximity sensor")
self.print_status() self.print_status()
@ -412,6 +412,6 @@ class DroneInterface:
self.override_stop() self.override_stop()
self.clear_override_channels() self.clear_override_channels()
else: else:
self.log.info(f"Distance to pallet ({distance_to_pallet} m), moving forward...") self.log.info(f"Distance to pallet ({distance_to_pallet} cm), moving forward...")
target_speed_pwm = 1930 target_speed_pwm = 1930
self.set_vehicle_speed(target_speed_pwm) self.set_vehicle_speed(target_speed_pwm)

2
Control/Pi/main_server.py
View File

@ -300,7 +300,7 @@ def get_steering():
@app.route('/approach_pallet', methods=['POST']) @app.route('/approach_pallet', methods=['POST'])
def approach_pallet(): def approach_pallet():
FORKLIFT.approach_pallet() FORKLIFT.approach_pallet()
return jsonify({'Success': True, 'estop': 'engaged'}) return jsonify({'Success': True})
# @app.route('/close', methods=['POST']) # @app.route('/close', methods=['POST'])
# def close_forklift(): # def close_forklift():