From c1af30ab685bf17e80b63b875bebfb275954df89 Mon Sep 17 00:00:00 2001
From: Max <Hunt>
Date: Tue, 21 Sep 2021 14:36:41 +0100
Subject: [PATCH] Update

---
 Control/Jetson/main.py                  | 2 +-
 Control/Jetson/vision_cargo_approach.py | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Control/Jetson/main.py b/Control/Jetson/main.py
index eee017a..768adea 100755
--- a/Control/Jetson/main.py
+++ b/Control/Jetson/main.py
@@ -27,7 +27,7 @@ DO_ZERO = False
 DO_GPS_THERE = False
 DO_VISION_APPROACH = True
 DO_FORK_ALIGN = True
-DO_PICKUP_CARGO = True
+DO_PICKUP_CARGO = False
 DO_REVERSE_TURN = False
 DO_GPS_RETURN = False
 DO_DROPOFF_CARGO = False
diff --git a/Control/Jetson/vision_cargo_approach.py b/Control/Jetson/vision_cargo_approach.py
index 8090bb8..2e4d9e7 100644
--- a/Control/Jetson/vision_cargo_approach.py
+++ b/Control/Jetson/vision_cargo_approach.py
@@ -128,8 +128,8 @@ class VisionSystem:
 
 class CargoApproachingSystem:
     def __init__(self) -> None:
-        self.ky = 2
-        self.kt = -0.5
+        self.ky = -3
+        self.kt = 0.5
 
     def calculate(self, ey, et):
         delta = self.ky * math.atan(ey) + self.kt * et