after_forward_heading = car.dynamics.heading
car.forward(-distance, fixed_steering_us = steering)
after_reverse_heading = car.dynamics.heading
forward_diff = angle_diff(start_heading, after_forward_heading)
reverse_diff = angle_diff(after_forward_heading, after_reverse_heading)
print 'steering: {} fwd_diff: {} rev dif: {} '.format(steering, forward_diff, reverse_diff)
return forward_diff, reverse_diff
steering_input = range(1440, 1480, 10)
forward_results = []
reverse_results = []
for steering in steering_input:
(forward_result, reverse_result) = test_steering_angle(steering)
forward_results.append(forward_result)
reverse_results.append(reverse_result)
forward_center = find_zero(steering_input, forward_results)
reverse_center = find_zero(steering_input, reverse_results)
print 'forward center: {}'.format(forward_center)
print 'reverse center: {}'.format(reverse_center)
answer = raw_input('Write to config file: [Y/n]')
if len(answer)==0 or answer[0].lower() == 'y':
car.set_option('calibration', 'center_steering_us', int(forward_center))
car.set_option('calibration', 'reverse_center_steering_us', int(reverse_center))
