Hopefully fixed DWM reading incorrect values at first

2 files changed, 6 insertions, 2 deletions

diff --git a/DWM.py b/DWM.py
index cfe7178..ebefb3b 100755
--- a/DWM.py
+++ b/DWM.py
@@ -77,6 +77,9 @@ with serial.Serial('/dev/ttyACM0', 115200, timeout = 1) as s:
     sleep(0.1)
     s.write(b"\r")
     sleep(0.1)
+
+    for i in range(10):
+        s.readline()
     
     while True:
         dstr = s.readline().decode('utf-8').strip('\n')
diff --git a/main.py b/main.py
index 7b04670..01eccb4 100755
--- a/main.py
+++ b/main.py
@@ -81,6 +81,8 @@ if bto.find("Connected") != -1:
             #print("Quality factor: " + qf)
             # if float(qf) > 80:
             print(f"x: {x}, y: {y}")
+            print(f"Current direction: {curDir}")
+            print(f"Desired direction: {desDir}")
 
         if newCommand:
             print(f"Command: {bto}")
@@ -151,8 +153,7 @@ if bto.find("Connected") != -1:
                 # curDir = (math.atan2(curY - oldY, curX - oldX) + math.pi) * (180/math.pi)
                 # if backward == True:
                 #     a = a - 180
-                print(f"Current direction: {curDir}")
-                print(f"Desired direction: {desDir}")
+
                 NANO.write(b"Stop\n")
 
         curDir = math.atan2(y - oldY, x - oldX)