From c3b0f5980338d78345a9477b4ffb5a360b597759 Mon Sep 17 00:00:00 2001 From: Andrey Pohilko Date: Mon, 18 Sep 2017 21:59:59 +0300 Subject: [PATCH] fix reverse gear --- vernie/android_remote.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/vernie/android_remote.py b/vernie/android_remote.py index ea7f525..a3cdc7a 100644 --- a/vernie/android_remote.py +++ b/vernie/android_remote.py @@ -60,13 +60,14 @@ try: break if not message: - time.sleep(0.05) + time.sleep(0.1) continue messageString = message.decode("utf-8") a, b, c = decode_xml(messageString) - sa = int(10 * (c + b / 2.0)) / 10.0 - sb = int(10 * (c - b / 2.0)) / 10.0 + divider = 2.0 if c > 0 else -2.0 + sa = int(10 * (c + b / divider)) / 10.0 + sb = int(10 * (c - b / divider)) / 10.0 logging.info("SpeedA=%s, SpeedB=%s", sa, sb) robot.motor_AB.constant(sa, sb, async=True) time.sleep(0.5)