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remove vector normalization- done on base station

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Tristan McGinnis
2025-04-26 12:04:38 -05:00
committed by David
parent 5c41d66404
commit c302626512
1 changed files with 2 additions and 2 deletions
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4
src/arm_pkg/arm_pkg/arm_node.py
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@@ -407,13 +407,13 @@ class SerialRelay(Node):
self.debug_pub.publish(tempMsg) self.debug_pub.publish(tempMsg)
# normalize the vector # 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 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) tempMsg.data = "Target Position: " + str(target_position)
self.debug_pub.publish(tempMsg) self.debug_pub.publish(tempMsg)