first working databaseCreator

Signed-off-by: L. Bogner <lars.bogner@outlook.de>
2019-05-12 16:07:07 +02:00
parent ac6858677e
commit 7961defabc
1 changed files with 12 additions and 0 deletions
@@ -30,9 +30,21 @@ class Robot:
            rad = deg * math.pi / 180
            return rad

+        def _calc_previous(self):
+            if self.previous_servos:
+                for servo in self.previous_servos:
+                    self.total_angle_deg += servo.deg
+                self.delta = self.deg + self.previous_servos[-1].deg
+                if self.delta < 0:
+                    self.delta *= -1
+            else:
+                self.delta = self.deg
+            self.total_angle_rad = self._get_rad(self.total_angle_deg)
+
        def set_angle(self, angle):
            self.deg = angle
            self.rad = self._get_rad(self.deg)
+            self._calc_previous()

        def _get_angle(self, ms):
            val_min = self.geometry.min