From 903bd0e42131c9465f909fb7b1015634a1843d4f Mon Sep 17 00:00:00 2001 From: OrionOth Date: Fri, 17 Nov 2023 15:23:03 -0800 Subject: [PATCH] style(thrust): Config matrix grid spacing --- src/seahawk/seahawk_deck/thrust.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/seahawk/seahawk_deck/thrust.py b/src/seahawk/seahawk_deck/thrust.py index 6e3ca524..81d95d9d 100644 --- a/src/seahawk/seahawk_deck/thrust.py +++ b/src/seahawk/seahawk_deck/thrust.py @@ -43,12 +43,12 @@ def __init__(self): super().__init__('thrust') self.motor_config = [ - [0, 0, 0, 0, 0.7071, 0.7071, -0.7071, -0.7071], - [0, 0, 0, 0, -0.7071, 0.7071, -0.7071, 0.7071], - [1, 1, 1, 1, 0, 0, 0, 0], - [-.19, -.19, .19, .19, -.105, -.105, .105, .105], - [-.12, .12, -.12, .12, -.15, .15, -.15, .15], - [-.047,-.047,-.047, -.047, 0.038, 0.038, 0.038, 0.038] + [ 0, 0, 0, 0, 0.7071, 0.7071, -0.7071, -0.7071 ], # Fx + [ 0, 0, 0, 0, -0.7071, 0.7071, -0.7071, 0.7071 ], # Fy + [ 1, 1, 1, 1, 0, 0, 0, 0 ], # Fz + [ -0.19, -0.19, 0.19, 0.19, -0.105, -0.105, 0.105, 0.105 ], # Rx (mm) + [ -0.12, 0.12, -0.12, 0.12, -0.15, 0.15, -0.15, 0.15 ], # Ry (mm) + [ -0.047, -0.047, -0.047, -0.047, 0.038, 0.038, 0.038, 0.038 ], # Rz (mm) ] self.inverse_config = np.linalg.pinv(self.motor_config, rcond=1e-15, hermitian=False)