fix: harmonisation dans les constante et suppression de toute trace de pwm dans car (car géré par l'asservissement)

Author: Cbampeta

src/HL/Autotech_constant.py

@@ -3,8 +3,7 @@
 
 MAX_SOFT_SPEED = 6000 # en milimetre par secondes
 MIN_SOFT_SPEED = -4000
-MAX_ANGLE = 120
-MIN_ANGLE = 60
+MAX_ANGLE = 30
 CRASH_DIST = 110
 REAR_BACKUP_DIST = 100  #mm Distance at which the car will NOT reverse due to the obstacle behind it
 LIDAR_DATA_AMPLITUDE = 1
@@ -15,20 +14,6 @@
 MODEL_PATH = os.path.join(script_dir, "model_CNN1D.onnx")  # Allows the model to be loaded from the same directory as the script regardless of the current working directory (aka where the script is run from)
 
 
-PWM_PROP = {
-    "direction_prop": 1,
-    "pwm_stop_prop": 7.37,
-    "point_mort_prop": 0.5,
-    "delta_pwm_max_prop": 1.1  # PWM at which the maximum speed is reached
-}
-
-PWM_DIR = {
-    "direction": -1,  # 1 for angle_pwm_min to the left, -1 for angle_pwm_min to the right
-    "angle_pwm_min": 6.91,
-    "angle_pwm_max": 10.7,
-    "angle_pwm_centre": 8.805
-}
-
 SOCKET_ADRESS = {
     "IP": '192.168.0.10',
     "PORT": 10940

src/HL/Car.py

@@ -15,7 +15,7 @@
 
 
 # Import constants from HL.Autotech_constant to share them between files and ease of use
-from Autotech_constant import MAX_SOFT_SPEED, MAX_ANGLE, CRASH_DIST, MODEL_PATH, PWM_DIR, PWM_PROP, SOCKET_ADRESS, REAR_BACKUP_DIST,  LIDAR_DATA_SIGMA, LIDAR_DATA_AMPLITUDE, LIDAR_DATA_OFFSET
+from Autotech_constant import MAX_SOFT_SPEED, MAX_ANGLE, CRASH_DIST, MODEL_PATH, SOCKET_ADRESS, REAR_BACKUP_DIST,  LIDAR_DATA_SIGMA, LIDAR_DATA_AMPLITUDE, LIDAR_DATA_OFFSET
 from Driver import Driver
 from Lidar import Lidar
 from Camera import Camera
@@ -27,11 +27,6 @@ def __init__(self, driver):
         self.vitesse_milimetres_s = 0  # Speed in millimeters per second
         self.angle_degre = 0  # Steering angle in degrees
 
-        def _initialize_speed_limits():
-            """Set the car's speed limits."""
-            self.vitesse_max_m_s_hard = 6000  # Maximum hardware speed
-            self.vitesse_max_m_s_soft = MAX_SOFT_SPEED  # Maximum software speed
-
         def _initialize_ai():
             """Initialize the AI session."""
             try:
@@ -73,8 +68,6 @@ def _initialize_tof():
                 log.error(f"Error initializing ToF: {e}")
                 raise
 
-        # Initialize speed limits
-        _initialize_speed_limits()
 
         # Initialize AI session
         _initialize_ai()
@@ -131,7 +124,7 @@ def turn_around(self):
 
         self.set_vitesse_m_s(0)
         self.set_direction_degre(MAX_ANGLE)
-        self.set_vitesse_m_s(-2)
+        self.set_vitesse_m_s(-2) #blocing call
         time.sleep(1.8) # Wait for the car to turn around
         if self.camera.is_running_in_reversed():
             self.turn_around()