modelec/modelec-marcel-ROS
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start to be very nice :)

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This commit is contained in:
acki
2025-05-04 00:26:13 -04:00
parent 4bd1a1438c
commit e22b745b02
18 changed files with 322 additions and 132 deletions
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10
simulated_pcb/odo.py
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@@ -4,7 +4,7 @@ import math
import threading
class SimulatedPCB:
def __init__(self, port='/dev/pts/6', baud=115200):
def __init__(self, port='/dev/pts/9', baud=115200):
self.ser = serial.Serial(port, baud, timeout=1)
self.running = True
self.start = False
@@ -45,7 +45,7 @@ class SimulatedPCB:
angle_diff = self.normalize_angle(wp['theta'] - self.theta)
if wp['type'] == 1:
if distance < 5.0 and abs(angle_diff) < 0.05:
if distance < 5.0 and abs(angle_diff) < 0.15:
self.vx = 0.0
self.vy = 0.0
self.vtheta = 0.0
@@ -54,12 +54,12 @@ class SimulatedPCB:
self.waypoint_order.pop(0)
del self.waypoints[wp['id']]
else:
speed = min(200.0, distance * 1.5)
speed = min(300.0, distance * 3)
self.vx = speed * math.cos(angle)
self.vy = speed * math.sin(angle)
self.vtheta = max(-1.0, min(1.0, angle_diff))
self.vtheta = max(-9.0, min(9.0, angle_diff * 2))
else:
speed = min(300.0, distance * 2)
speed = min(600.0, distance * 4)
self.vx = speed * math.cos(angle)
self.vy = speed * math.sin(angle)
self.vtheta = 0.0