From 97af61e5e18945c77bab3df36c2cbb4d9f1357a4 Mon Sep 17 00:00:00 2001 From: d3rped Date: Fri, 23 Mar 2018 21:56:54 +0100 Subject: [PATCH] capped wheel speed to 100 (to avoid errors) --- src/move.py | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/src/move.py b/src/move.py index 799eb8e..24851e9 100644 --- a/src/move.py +++ b/src/move.py @@ -5,6 +5,15 @@ from sensor import Sensor from odometry import Odometry +def capat100(value): + if(value > 100): + return 100 + elif(value < -100): + return -100 + else: + return value + + class Move: def __init__(self): try: @@ -79,8 +88,8 @@ class Move: while (self._sensor.bumperispressed() is not True and self._sensor.lastcolor is None): self._camera.refresh() - self._wheel_l.speed_set(self.maxbrightness//2 - self._sensor.getbrightness()//2) - self._wheel_r.speed_set(self._sensor.getbrightness()//2) + self._wheel_l.speed_set(capat100(self.maxbrightness/2 - self._sensor.getbrightness()/2)) + self._wheel_r.speed_set(capat100(self._sensor.getbrightness()/2)) self._sensor.getcolor() if(not isknownstation): print(self._odometry.degree(self._wheel_l.getmovement(), self._wheel_r.getmovement(), 0))