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Max 2021-09-21 17:46:51 +01:00
parent 18ccc433ca
commit 84d1cbb68d
3 changed files with 3 additions and 3 deletions
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2
Control/Jetson/main.py
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@ -230,7 +230,7 @@ def queue_executor_thread():
executor_logger.warning("DO_DROPOFF_CARGO flag is false, skipping dropping off cargo") executor_logger.warning("DO_DROPOFF_CARGO flag is false, skipping dropping off cargo")
if DO_REVERSE_TURN: if DO_REVERSE_TURN:
reverse_turn = reverse_turn(FORKLIFT) reverse_turn = __reverse_turn(FORKLIFT)
if not reverse_turn: if not reverse_turn:
executor_logger.critical("Problem with reverse turn, check logs !") executor_logger.critical("Problem with reverse turn, check logs !")
FORKLIFT.set_state("OTHER_ERROR") FORKLIFT.set_state("OTHER_ERROR")

2
Control/Pi/dronekit_class.py
View File

@ -363,12 +363,12 @@ class DroneInterface:
if self.verify_state_for("NAVIGATING_TO_POINT_GPS"): if self.verify_state_for("NAVIGATING_TO_POINT_GPS"):
approaching = True approaching = True
while approaching: while approaching:
current_heading = self.get_heading()
if target_heading - 7 <= current_heading <= target_heading + 7: if target_heading - 7 <= current_heading <= target_heading + 7:
approaching = False approaching = False
self.log.info(f"Heading {target_heading} reached") self.log.info(f"Heading {target_heading} reached")
self.override_stop() self.override_stop()
return True return True
current_heading = self.get_heading()
error = target_heading - current_heading error = target_heading - current_heading
self.log.error(f"Angle: {error} deg.") self.log.error(f"Angle: {error} deg.")
if error > 180: if error > 180:

2
Control/Pi/pallet_proximity_sensor.py
View File

@ -24,7 +24,7 @@ class PalletProximity:
self.ser.flushInput() self.ser.flushInput()
# time.sleep(0.05) # time.sleep(0.05)
readings = 0 readings = 0
for _ in range(2): for _ in range(3):
raw = str(self.ser.readline()) raw = str(self.ser.readline())
raw2 = int(raw.split("|")[1]) raw2 = int(raw.split("|")[1])
readings += raw2 readings += raw2