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trying to fix antennas twitching

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apirrone 2025-05-05 14:26:25 +02:00
parent fcb74877f6
commit fc4e7ac33c
1 changed files with 9 additions and 5 deletions
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14
mini_bdx_runtime/mini_bdx_runtime/antennas.py
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@ -21,6 +21,9 @@ class Antennas:
self.pwm1.start(0)
self.pwm2.start(0)
self.pwm1_set = False
self.pwm2_set = False
def map_input_to_angle(self, value):
return 90 + (value * 90)
@ -38,22 +41,23 @@ class Antennas:
"""
if value < 0.1:
if servo == 1:
if servo == 1 and not self.pwm1_set:
self.pwm1.ChangeDutyCycle(7)
elif servo == 2:
self.pwm1_set = True
elif servo == 2 and not self.pwm2_set:
self.pwm2.ChangeDutyCycle(7)
else:
print("Invalid servo number!")
self.pwm2_set = True
return
if -1 <= value <= 1:
angle = self.map_input_to_angle(value * sign)
duty = 2 + (angle / 18) # Convert angle to duty cycle (1ms-2ms)
print(duty)
if servo == 1:
self.pwm1.ChangeDutyCycle(duty)
self.pwm1_set = False
elif servo == 2:
self.pwm2.ChangeDutyCycle(duty)
self.pwm2_set = False
else:
print("Invalid servo number!")
# time.sleep(0.01) # Allow time for movement