From e3516a8d56d6b301b844a3b032d0a5654324e30b Mon Sep 17 00:00:00 2001
From: Gabriel Lessard <lesg2605@usherbrooke.ca>
Date: Wed, 24 Nov 2021 16:36:52 -0500
Subject: [PATCH] Changes for megageniale

---
 .../hb_6/0_angleCalculatorParameters.pkl        | Bin 406 -> 378 bytes
 .../hb_6/1_angleCalculatorParameters.pkl        | Bin 406 -> 378 bytes
 .../hb_6/5_angleCalculatorParameters.pkl        | Bin 406 -> 378 bytes
 src/send_angle_params.py                        |   4 ++--
 src/visualisation_tool/DataUpdater.py           |   2 +-
 5 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/calibration/hb_6/0_angleCalculatorParameters.pkl b/src/calibration/hb_6/0_angleCalculatorParameters.pkl
index cef557b0289d2b390b6b716d602ba9d21517b8f4..5ab7ce5c1cdd97fd38264e29cb7ea9298c1e6ce8 100644
GIT binary patch
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literal 406
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dU{=ALn(fL+c-pc^C9KWGd<_f2Ur_4T#a{|Ai(&u(

diff --git a/src/calibration/hb_6/1_angleCalculatorParameters.pkl b/src/calibration/hb_6/1_angleCalculatorParameters.pkl
index 0efed2a7e0737dc1f7de3cf45c026d85c0ef0327..10e96adb36d2c1d35f0488f677903eaf6e6095ad 100644
GIT binary patch
literal 378
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z%T1o5**K+kibfAdZhS#vW|61M6mP~J9v~+rKQTBbzaX`EN-R)XG_N$bpi(b6zbI8N
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diff --git a/src/calibration/hb_6/5_angleCalculatorParameters.pkl b/src/calibration/hb_6/5_angleCalculatorParameters.pkl
index 15fca5c0508d49bc064ae664dd53136850ae14b2..055f7456e38c46ba1e89e4af937aa30b2b58dd57 100644
GIT binary patch
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z%T1o5**K+kibfAdZhS#vW|61M6mQlZ9v~+rKQTBbzaX`EN-R)XG_N$bpi(b6zbI8N
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diff --git a/src/send_angle_params.py b/src/send_angle_params.py
index 6d3b3b1..0df23d1 100644
--- a/src/send_angle_params.py
+++ b/src/send_angle_params.py
@@ -5,8 +5,8 @@
 from src.hiveboard.proto.ethernet_stream import EthernetStream
 from src.hiveboard.usb_stream import UsbStream
 
-HIVEBOARD_ID = 2
-MOUNT_ORIENTATION_OFFSET = 0 # Orientation offset (in degrees) of the BeeBoard assembly on the robot
+HIVEBOARD_ID = 6
+MOUNT_ORIENTATION_OFFSET = -60 # Orientation offset (in degrees) of the BeeBoard assembly on the robot
 
 # To use ethernet, you must have a static IP of 192.168.1.101 on submask 255.255.255.0
 USE_ETHERNET = False
diff --git a/src/visualisation_tool/DataUpdater.py b/src/visualisation_tool/DataUpdater.py
index 0b47028..b9138ac 100644
--- a/src/visualisation_tool/DataUpdater.py
+++ b/src/visualisation_tool/DataUpdater.py
@@ -80,7 +80,7 @@ def handle_neighbor_list(self, neighbor_list):
     def handle_neigbor_update(self, neighbor):
         neighbor_id = neighbor.neighbor_id
         self.new_polar_point.emit(neighbor_id, neighbor.position.distance, neighbor.position.azimuth)
-        y = neighbor.position.distance * np.cos(neighbor.position.azimuth / 180 * np.pi)
+        y = -neighbor.position.distance * np.cos(neighbor.position.azimuth / 180 * np.pi)
         x = neighbor.position.distance * np.sin(neighbor.position.azimuth / 180 * np.pi)
         self.new_cartesian_point.emit(neighbor_id, x, y)