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Code Issues Releases Wiki Activity

fix reverse gear

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This commit is contained in:
Andrey Pohilko 2017-09-18 21:59:59 +03:00
parent 0ea74dff64
commit c3b0f59803
1 changed files with 4 additions and 3 deletions
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7
vernie/android_remote.py
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@ -60,13 +60,14 @@ try:
break break
if not message: if not message:
time.sleep(0.05) time.sleep(0.1)
continue continue
messageString = message.decode("utf-8") messageString = message.decode("utf-8")
a, b, c = decode_xml(messageString) a, b, c = decode_xml(messageString)
sa = int(10 * (c + b / 2.0)) / 10.0 divider = 2.0 if c > 0 else -2.0
sb = int(10 * (c - b / 2.0)) / 10.0 sa = int(10 * (c + b / divider)) / 10.0
sb = int(10 * (c - b / divider)) / 10.0
logging.info("SpeedA=%s, SpeedB=%s", sa, sb) logging.info("SpeedA=%s, SpeedB=%s", sa, sb)
robot.motor_AB.constant(sa, sb, async=True) robot.motor_AB.constant(sa, sb, async=True)
time.sleep(0.5) time.sleep(0.5)