From 7118317a18e3024b341d14e72a9e741a7b14b2e5 Mon Sep 17 00:00:00 2001
From: lonkaars <loek@pipeframe.xyz>
Date: Tue, 6 Jun 2023 13:48:57 +0200
Subject: don't print uart messages constantly and fix for newly bent camera

---
 nicla/road.py | 7 ++++---
 nicla/uart.py | 5 +++--
 2 files changed, 7 insertions(+), 5 deletions(-)

(limited to 'nicla')

diff --git a/nicla/road.py b/nicla/road.py
index c5ffae3..ceabc3b 100644
--- a/nicla/road.py
+++ b/nicla/road.py
@@ -11,11 +11,11 @@ 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),
@@ -47,6 +47,7 @@ def main():
   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)
 
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):
-- 
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