Update path_generator.py

3 years ago · 42e61f3b55
parent 7446d9d9d1
commit 42e61f3b55
1 changed files with 2 additions and 2 deletions
--- a/software/rpi/path_generator.py
+++ b/software/rpi/path_generator.py
@ -317,8 +317,8 @@ def gen_rotatez_path(standby_coordinate,
        x = xy_radius * np.cos(i*step_angle)
        y = xy_radius * np.sin(i*step_angle)
-        m = get_rotate_y_matrix(np.arctan2(
+        m = get_rotate_y_matrix(np.arctan2(x, z_lift)*180/np.pi) * \
-            x, z_lift)*180/np.pi) * get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi)
+            get_rotate_x_matrix(np.arctan2(y, z_lift)*180/np.pi)
        path[i, :, :] = ((np.matmul(m, scx.T)).T)[:, :-1]