From 18bc68382e3d3aa808a30bd80f11e6a888258f6d Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 10 Jul 2015 22:56:23 +0200 Subject: [PATCH] move_base: calib ir sensors --- scripts/move_base.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/scripts/move_base.py b/scripts/move_base.py index 8f14c6c..0d68ce9 100755 --- a/scripts/move_base.py +++ b/scripts/move_base.py @@ -188,7 +188,7 @@ class MoveBase: dev.close() val = struct.unpack(">H", s)[0] - return 15221/(val - -276.42)/100; + return val def get_dist_srf(self, num): dev = i2c(0x52) @@ -217,13 +217,13 @@ class MoveBase: def get_dist_left(self): if self.pub_range_left.get_num_connections() > 0: - dist = self.get_dist_ir(0x1) - self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.1, 0.8, 5) + dist = 30.553/(self.get_dist_ir(0x1) - -67.534) + self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 5) def get_dist_right(self): if self.pub_range_right.get_num_connections() > 0: - dist = self.get_dist_ir(0x3) - self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.1, 0.8, 5) + dist = 17.4/(self.get_dist_ir(0x3) - 69) + self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 5) def get_dist_forward(self): if self.pub_range_fwd.get_num_connections() > 0: -- 2.39.2