From c3026265123defe775b0d579d2bb9c8a06719056 Mon Sep 17 00:00:00 2001 From: Tristan McGinnis Date: Sat, 26 Apr 2025 12:04:38 -0500 Subject: [PATCH] remove vector normalization- done on base station --- src/arm_pkg/arm_pkg/arm_node.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index 60d4273..db31fe8 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -407,13 +407,13 @@ class SerialRelay(Node): self.debug_pub.publish(tempMsg) # normalize the vector - input_norm = np.linalg.norm(input_raw) / 2.0 + #input_norm = np.linalg.norm(input_raw) / 2.0 #Target position is current position + normalized vector - target_position = self.arm.get_position() + input_norm + target_position = self.arm.get_position() + input_raw tempMsg.data = "Target Position: " + str(target_position) self.debug_pub.publish(tempMsg)