From 88ed5f7e532c91d3d59978a21cf012eb4ec6eb95 Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Thu, 21 Oct 2021 18:53:44 -0700
Subject: [PATCH] small fix of main
---
Code/Control/Laptop_Code/main.py | 10 +++++-----
..._zhiying.py => main_zhiying_move2ball_indv_test.py} | 2 --
2 files changed, 5 insertions(+), 7 deletions(-)
rename Code/Control/Laptop_Code/{main_zhiying.py => main_zhiying_move2ball_indv_test.py} (96%)
diff --git a/Code/Control/Laptop_Code/main.py b/Code/Control/Laptop_Code/main.py
index d80641a..afc2681 100644
--- a/Code/Control/Laptop_Code/main.py
+++ b/Code/Control/Laptop_Code/main.py
@@ -257,14 +257,14 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
if ballCapture: # Ball captured
if goalDetect: # Goal detected
- move2goal(tx, ty)
- else: # Goal not detected
- seeking()
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2goal(tx, ty)
+ else: # Goal not detectedpwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 =
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
else: # Ball not captured
if ballDetect: # Ball detected
- move2ball(gbx,gby,gb_dist)
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = move2ball(gbx,gby,gb_dist)
else: # Ball not detected
- seeking()
+ pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
diff --git a/Code/Control/Laptop_Code/main_zhiying.py b/Code/Control/Laptop_Code/main_zhiying_move2ball_indv_test.py
similarity index 96%
rename from Code/Control/Laptop_Code/main_zhiying.py
rename to Code/Control/Laptop_Code/main_zhiying_move2ball_indv_test.py
index 8b6819b..461b8ca 100644
--- a/Code/Control/Laptop_Code/main_zhiying.py
+++ b/Code/Control/Laptop_Code/main_zhiying_move2ball_indv_test.py
@@ -271,8 +271,6 @@ def main_control(gbx, gby, gb_dist, tx, ty, tz, rx, ry, rz, LIDAR_dist, debugM):
stop_all()
#pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4 = seeking()
-
-
return pwm1, pwm2, pwm3, pwm4, dir1, dir2, dir3, dir4
--
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