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Eskimue
2026-05-21 19:30:33 +02:00
parent 5dccc8985e
commit 33b71416ff
19 changed files with 855 additions and 229 deletions
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ExoMy_Software-master/src/rover.py
+9 -4
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@@ -24,6 +24,7 @@ class Rover():
self.wheel_ry = 20.3
self.wheel_fx = 16.0
self.wheel_fy = 20.3
self.point_turn_max_angle = 45
max_steering_angle = 45
self.ackermann_r_max = 250
@@ -152,10 +153,14 @@ class Rover():
return steering_angles
if(self.locomotion_mode == LocomotionMode.POINT_TURN.value):
point_turn_angle = int(math.degrees(
math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry)))
point_turn_angle_center = int(math.degrees(
math.atan((((self.wheel_rx + self.wheel_fx) / 2) - self.wheel_fx) / (self.wheel_ry / 2))))
raw_point_turn_angle = math.degrees(
math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry))
raw_point_turn_angle_center = math.degrees(
math.atan((((self.wheel_rx + self.wheel_fx) / 2) - self.wheel_fx) / (self.wheel_ry / 2)))
point_turn_angle = int(min(self.point_turn_max_angle, raw_point_turn_angle))
center_scale = 0.0 if raw_point_turn_angle == 0 else abs(raw_point_turn_angle_center / raw_point_turn_angle)
point_turn_angle_center = int(point_turn_angle * center_scale)
steering_angles[self.FL] = point_turn_angle
steering_angles[self.FR] = -point_turn_angle