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Max 2021-09-21 14:36:41 +01:00
parent 180b2f49bc
commit c1af30ab68
2 changed files with 3 additions and 3 deletions
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2
Control/Jetson/main.py
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@ -27,7 +27,7 @@ DO_ZERO = False
DO_GPS_THERE = False DO_GPS_THERE = False
DO_VISION_APPROACH = True DO_VISION_APPROACH = True
DO_FORK_ALIGN = True DO_FORK_ALIGN = True
DO_PICKUP_CARGO = True DO_PICKUP_CARGO = False
DO_REVERSE_TURN = False DO_REVERSE_TURN = False
DO_GPS_RETURN = False DO_GPS_RETURN = False
DO_DROPOFF_CARGO = False DO_DROPOFF_CARGO = False

4
Control/Jetson/vision_cargo_approach.py
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@ -128,8 +128,8 @@ class VisionSystem:
class CargoApproachingSystem: class CargoApproachingSystem:
def __init__(self) -> None: def __init__(self) -> None:
self.ky = 2 self.ky = -3
self.kt = -0.5 self.kt = 0.5
def calculate(self, ey, et): def calculate(self, ey, et):
delta = self.ky * math.atan(ey) + self.kt * et delta = self.ky * math.atan(ey) + self.kt * et