diff options
Diffstat (limited to 'nicla/road.py')
| -rw-r--r-- | nicla/road.py | 7 |
1 files changed, 4 insertions, 3 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() |