finalHEADmain

1 files changed, 10 insertions, 19 deletions

diff --git a/robot.js b/robot.js
index e67aba4..d3ad0fd 100644
--- a/robot.js
+++ b/robot.js
@@ -1,4 +1,4 @@
-const client = mqtt.connect("ws://marcelus.net:9001");
+const client = mqtt.connect("ws://marcellus.cc:9001");
 
 function wait(ms)
 {
@@ -22,31 +22,22 @@ function wait(ms)
     });
 }
 
-function getTime(dist)
+function getTime(dist,angle)
 {
-    let res = (dist / 200)*1000
-    console.log('time is '+res)
+    let res = (dist / 200)*1500 + 1850 * Math.abs(angle/180)
+    console.log('time is '+res + ",\n supp :" + 1850 *Math.abs(angle/180))
     return res
 }
 
-async function moveTo(x,y)
+async function moveTo(dist,angle)
 {
-    var dist = Math.sqrt(x * x + y * y)
-    console.log('dist is '+dist)
-    var angle = (Math.atan2(y,x))*180/Math.PI
-    if(angle>180)
-    {
-        angle-=180
-    }
-    else if(angle<-180)
-    {
-        angle+=180
-    }
-    console.log(angle.toString())
-    var str = 'T'+(Math.floor(angle)-90).toString()
+    console.log('dist is '+ dist)
+    ang = angle * 180 /Math.PI
+    console.log('ang is :' + ang.toString())
+    var str = 'T'+(Math.floor(ang)).toString()
     client.publish('move',str)
     client.publish('move','D200')
-    const time = getTime(dist)
+    const time = getTime(dist,ang)
     let tmp = await wait(time);
     if (tmp == 0){
         client.publish('move', 'STOP');