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add right turn

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This commit is contained in:
Zhengyu Peng
2021-12-09 21:59:32 -05:00
parent 93d0994725
commit 536d3d731c
2 changed files with 25 additions and 1 deletions
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20
software/rpi/path_generator.py
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@ -112,3 +112,23 @@ def gen_leftturn_path():
leftturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135))
return leftturn
def gen_rightturn_path():
g_steps = 20
g_radius = 25
assert (g_steps % 4) == 0
halfsteps = int(g_steps/2)
path = semicircle_generator(g_radius, g_steps)
mir_path = np.roll(path, halfsteps, axis=0)
rightturn = np.zeros((g_steps, 6, 3))
rightturn[:, 0, :] = np.array(path_rotate_z(path, 45+180))
rightturn[:, 1, :] = np.array(path_rotate_z(mir_path, 0+180))
rightturn[:, 2, :] = np.array(path_rotate_z(path, 315+180))
rightturn[:, 3, :] = np.array(path_rotate_z(mir_path, 225+180))
rightturn[:, 4, :] = np.array(path_rotate_z(path, 180+180))
rightturn[:, 5, :] = np.array(path_rotate_z(mir_path, 135+180))
return rightturn