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Fixes to support LinearAlgebra repo

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This commit is contained in:
Pascal Serrarens 2025-04-06 12:10:39 +02:00
parent 09b0fa84f3
commit 552d6cab96
2 changed files with 5 additions and 4 deletions
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4
Messages/LowLevelMessages.py
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@ -4,10 +4,10 @@ from LinearAlgebra.Angle import Angle
def SendAngle8(buffer, ix_ref, angle):
"""! Send an 8-bit angle value """
angle = Angle.Normalize(angle)
# angle = Angle.Normalize(angle)
ix = ix_ref[0]
buffer[ix] = int((angle / 360) * 256).to_bytes(1, 'big', signed=True)[0]
buffer[ix] = int((angle.InDegrees() / 360) * 256).to_bytes(1, 'big', signed=True)[0]
ix_ref[0] += 1
def SendFloat16(buffer, ix_ref, value):

5
Things/DifferentialDrive.py
View File

@ -65,13 +65,14 @@ class DifferentialDrive(Thing):
# This assumes no sideward velocity because diff drive does not support it
linear_speed = self.linear_velocity.distance
# When the direction is backwards...
if self.linear_velocity.direction.horizontal < -90 or self.linear_velocity.direction.horizontal > 90:
horizontalAngle = self.linear_velocity.direction.horizontal.InDegrees()
if horizontalAngle < -90 or horizontalAngle > 90:
linear_speed = -linear_speed
angular_velocity: Spherical = self.angular_velocity
angular_speed: float = angular_velocity.distance * Angle.Deg2Rad # in radians/sec
# Determine the rotation direction
if angular_velocity.direction.horizontal < 0:
if angular_velocity.direction.horizontal.InDegrees() < 0:
angular_speed = -angular_speed
if self.wheel_left is not None and self.wheel_right is not None: