Fixes from testing

- Correct left and rigght for ultrasound - Correct pin number - Reduce ultrasound noise from 2% to 1%
sourcebots · Jul 13, 2024 · 9da3cc4 · 9da3cc4
1 parent a8506e1
commit 9da3cc4
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/simulator/modules/sbot_interface/setup.py b/simulator/modules/sbot_interface/setup.py
@@ -80,7 +80,7 @@ def setup_devices(log_level: int | str = logging.WARNING) -> SocketServer:
                 EmptyPin(),  # ultrasonic trigger pin, pin 4
                 UltrasonicSensor('ultrasound left'),  # pin 5
                 EmptyPin(),  # ultrasonic trigger pin, pin 6
-                UltrasonicSensor('ultrasound right'),  # pin 6
+                UltrasonicSensor('ultrasound right'),  # pin 7
                 EmptyPin(),  # ultrasonic trigger pin, pin 8
                 UltrasonicSensor('ultrasound back'),  # pin 9
                 MicroSwitch('front left bump sensor'),  # pin 10

diff --git a/simulator/protos/SRObot.proto b/simulator/protos/SRObot.proto
@@ -104,7 +104,7 @@ PROTO SRObot [
             translation 0.04 0 0
           }
           UltrasoundModule {
-            name "ultrasound right"
+            name "ultrasound left"
             translation -0.08 0.07 0
             rotation 0 0 1 1.5708
           }
@@ -114,7 +114,7 @@ PROTO SRObot [
             rotation 0 0 1 3.1416
           }
           UltrasoundModule {
-            name "ultrasound left"
+            name "ultrasound right"
             translation -0.08 -0.07 0
             rotation 0 0 1 -1.5708
           }

diff --git a/simulator/protos/robot/UltrasoundModule.proto b/simulator/protos/robot/UltrasoundModule.proto
@@ -16,10 +16,10 @@ PROTO UltrasoundModule [
     numberOfRays 10
     aperture 0.3
     lookupTable [
-      # 2% standard deviation, with no deviation at the limits
+      # 1% standard deviation, with no deviation at the limits
       0 0 0
-      0.01 10 0.02
-      %<= fields.range.value * 0.99 >% %<= fields.range.value * 1000 * 0.99 >% 0.02
+      0.01 10 0.01
+      %<= fields.range.value * 0.99 >% %<= fields.range.value * 1000 * 0.99 >% 0.01
       %<= fields.range.value >% %<= fields.range.value * 1000 >% 0
     ]
     children [