ds

Author: LeProblemeEDMN

raspberrypi/daughter_cards/wheeledbase.py

@@ -345,6 +345,7 @@ def goto_stop(self, x, y,sensors, theta=None, direction=None, finalangle=None, l
             rPos=self.get_position()
             radiusRobot=370
             ang=rPos[2]%(2*math.pi)
+            print(ang,theta)
             #fait en sorte que |ang-theta|<pi pr trouver le sens du robot
             if(theta-ang>math.pi):
                 theta-=2*math.pi

raspberrypi/tests/wbTest.py

@@ -32,8 +32,8 @@
 print("Sensors:",sensors)
 
 wheeledbase.start_match()
-wheeledbase.goto_stop(0,0, sensors,finalangle=-math.pi/2)
+wheeledbase.goto_stop(0,0, sensors,theta=-math.pi/2)
 time.sleep(1)
-wheeledbase.goto_stop(0,0, sensors,finalangle=0)
+wheeledbase.goto_stop(0,0, sensors,theta=0)
 while 1:
     print(wheeledbase.get_position(),sensors.get_all_sensors())