modif avec goto et finalangle

Author: LeProblemeEDMN

raspberrypi/robots/team2024/PanneauxSolaires.py

@@ -65,8 +65,8 @@ def procedure(self):
             self.barriere.ferme_gauche()
         ############################################ Avance
         pos =self.wb.get_position()
-        self.wb.goto(pos[0],pos[1],theta=ang_approche)
-        self.wb.goto(fin[0],fin[1],theta=ang_approche, linvelmax=POSITIONCONTROL_LINVELMAX_VALUE*0.2)
+        self.wb.goto_stop(pos[0],pos[1],theta=ang_approche)
+        self.wb.goto_stop(fin[0],fin[1],theta=ang_approche, linvelmax=POSITIONCONTROL_LINVELMAX_VALUE*0.2)
 
         self.wb.set_parameter_value(POSITIONCONTROL_LINVELMAX_ID, POSITIONCONTROL_LINVELMAX_VALUE, FLOAT)
 

raspberrypi/robots/team2024/RecupPlante.py

@@ -50,13 +50,13 @@ def procedure(self):
         print(length-self.radiusRobot)
         #print(self.wb.wheeledbase.getuuid())
         if(length-self.radiusRobot>0):
-            self.wb.goto(stop[0],stop[1],theta=ang)
+            self.wb.goto_stop(stop[0],stop[1],theta=ang)
 
         ######On prends
         self.barriere.nicole_oouuuuuvre()
 
         stop=vecPos/length*(length-self.radiusPince)+rPos
-        self.wb.goto(stop[0],stop[1], theta=ang, linvelmax=POSITIONCONTROL_LINVELMAX_VALUE*0.15)
+        self.wb.goto_stop(stop[0],stop[1], theta=ang, linvelmax=POSITIONCONTROL_LINVELMAX_VALUE*0.15)
 
         self.wb.set_parameter_value(POSITIONCONTROL_LINVELMAX_ID, POSITIONCONTROL_LINVELMAX_VALUE, FLOAT)
 
@@ -77,19 +77,19 @@ def procedure(self):
         print(theta)
         print(ang)
 
-        self.wb.goto(rPos[0],rPos[1], theta=ang, angvelmax=POSITIONCONTROL_ANGVELMAX_VALUE*0.05)
-        self.wb.goto(stop[0],stop[1],theta=ang, angvelmax=POSITIONCONTROL_ANGVELMAX_VALUE, linvelmax=POSITIONCONTROL_LINVELMAX_VALUE*0.3)
+        self.wb.goto_stop(rPos[0],rPos[1], theta=ang, angvelmax=POSITIONCONTROL_ANGVELMAX_VALUE*0.05)
+        self.wb.goto_stop(stop[0],stop[1],theta=ang, angvelmax=POSITIONCONTROL_ANGVELMAX_VALUE, linvelmax=POSITIONCONTROL_LINVELMAX_VALUE*0.3)
 
-        #On recule pour le prochain
+        #On recule pour le prochains
         if(not self.final):
             self.barriere.nicole_oouuuuuvre()
             stop[0]=stop[0]-150*np.cos(ang)
             stop[1]=stop[1]-150*np.sin(ang)
-            self.wb.goto(stop[0],stop[1],theta=ang+np.pi)
+            self.wb.goto_stop(stop[0],stop[1],theta=ang+np.pi)
         else:
             stop[0]=stop[0]-50*np.cos(ang)
             stop[1]=stop[1]-50*np.sin(ang)
-            self.wb.goto(stop[0],stop[1],theta=ang)
+            self.wb.goto_stop(stop[0],stop[1],theta=ang)
             self.barriere.nicole_oouuuuuvre()