updated with unitiy

2026-06-15 11:52:07 +03:00
parent eb6ec135a5
commit bd046ae217
1 changed files with 8 additions and 2 deletions
@@ -25,8 +25,11 @@ class RobotController(object):

    ''' CONTROL '''

+    # speeds in [-1, 1] extra stuff will be cut
    def send_twist_cmd(self, v, w):
-        raise NotImplemented("")
+        v = min(max(-1, v), 1)
+        w = min(max(-1, w), 1)
+        return v, w

    def send_fire_ext_burst_cmd(self):
        if self._fire_ext_capacity > 0:
@@ -34,8 +37,11 @@ class RobotController(object):
            return True
        return False

+    # poses in [-1, 1] extra stuff will be cut
    def send_fire_ext_pose_cmd(self, horisontal_pose, vertical_pose):
-        raise NotImplemented("")
+        horisontal_pose = min(max(-1, horisontal_pose), 1)
+        vertical_pose = min(max(-1, vertical_pose), 1)
+        return horisontal_pose, vertical_pose

    def send_pick_asset_cmd(self):
        raise NotImplemented("")