def update_vars(self):
try:
ir_sensors, counters, self.ambient = self.get_readings()
except ValueError as e:
logger.debug(e)
return self.update_vars()
self.x, self.y, self.theta, self.phi = OdometryPlot.calc_odometry(
counters, self.old_counters, self.x, self.y, self.theta,self.target)
self.old_counters = counters
self.ir_sensors = ir_sensors
self.distances = self.get_distances(ir_sensors)
