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trying to fix antennas twitching

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apirrone 2025-05-05 14:25:05 +02:00
parent 5b9ba81561
commit fcb74877f6
1 changed files with 11 additions and 7 deletions
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18
mini_bdx_runtime/mini_bdx_runtime/antennas.py
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@ -36,15 +36,20 @@ class Antennas:
:param servo: 1 for the first servo, 2 for the second servo
:param value: A float between -1 and 1
"""
angle = self.map_input_to_angle(value * sign)
duty = 2 + (angle / 18) # Convert angle to duty cycle (1ms-2ms)
print(duty)
# if value < 0.1:
if value == 0:
if value < 0.1:
if servo == 1:
self.pwm1.ChangeDutyCycle(7)
elif servo == 2:
self.pwm2.ChangeDutyCycle(7)
else:
print("Invalid servo number!")
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)
elif servo == 2:
@ -73,4 +78,3 @@ if __name__ == "__main__":
if time.time() - s > 5:
break