diff options
| -rw-r--r-- | nicla/road.py | 7 | ||||
| -rw-r--r-- | nicla/uart.py | 5 |
2 files changed, 7 insertions, 5 deletions
diff --git a/nicla/road.py b/nicla/road.py index 8d60dff..adc79a4 100644 --- a/nicla/road.py +++ b/nicla/road.py @@ -12,11 +12,11 @@ clock = time.clock() WIDTH = 480 HEIGHT = 320 -HORIZON = 120 -STRETCH = 155 +HORIZON = 150 +STRETCH = 40 SQUEEZE = 400 -STEERING_ENTHOUSIASM = 7.0 +STEERING_ENTHOUSIASM = 3.0 ROAD_MIN_BRIGHTNESS = 0xa0 points = [(STRETCH, HORIZON), @@ -48,6 +48,7 @@ def drive(driveImg): avg *= STEERING_ENTHOUSIASM avg = max(-1, min(1, avg)) + print(avg) steerByte = int((avg + 1.0) * (DUI_CMD_STEER_END - DUI_CMD_STEER_START) / 2 + DUI_CMD_STEER_START) uart.uart_buffer(steerByte) sensor.dealloc_extra_fb() diff --git a/nicla/uart.py b/nicla/uart.py index 276f6d1..da150b0 100644 --- a/nicla/uart.py +++ b/nicla/uart.py @@ -16,14 +16,15 @@ def uart_send(byte): __uart_buffer = bytearray() def uart_flush(): global __uart_buffer - print("UART FLUSH START") + # print("UART FLUSH START") for byte in __uart_buffer: - print(f"BYTE 0x{byte:02X}") + # print(f"BYTE 0x{byte:02X}") uart_send(byte) # dit is de oplossing udelay(2000) uart_send(byte) udelay(2000) uart_send(byte) + udelay(2000) __uart_buffer = bytearray() def tx_irq_handler(pin): |