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drive_between_arucos.py

@@ -64,8 +64,8 @@ def main():
         np.average(aruco_positions[:,2])
     ]
 
-    angle = np.rad2deg(np.arctan(position[0]/position[2]))
-    drive_distance = np.sqrt(position[0]**2 + position[2]**2)
+    angle = np.rad2deg(np.arctan(position[0]/position[1]))
+    drive_distance = np.sqrt(position[0]**2 + position[1]**2)
     if angle < 0:
         arlo.go_diff(POWER, POWER, 0, 1)
         sleep((abs(angle) * TURN_T)/1000)