From 17619ea41d260b0ceda72da119940486fdac9e2b Mon Sep 17 00:00:00 2001
From: Philip Arola <parola@pdx.edu>
Date: Tue, 6 Nov 2018 17:12:48 -0800
Subject: [PATCH] Fixed head rotation and increased deadzone

---
 catkin_ws/src/face_detection/src/detect.py     | 2 +-
 catkin_ws/src/gesture_controls/src/gestures.py | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/catkin_ws/src/face_detection/src/detect.py b/catkin_ws/src/face_detection/src/detect.py
index b6bf8c3..25b4626 100755
--- a/catkin_ws/src/face_detection/src/detect.py
+++ b/catkin_ws/src/face_detection/src/detect.py
@@ -11,7 +11,7 @@
 webcam = cv2.VideoCapture(0)
 webcamWidth = webcam.get(3)
 webcamHeight = webcam.get(4)
-deadzone = 100
+deadzone = 200
 
 # Create the haar cascade
 faceCascade = cv2.CascadeClassifier(cascPath)
diff --git a/catkin_ws/src/gesture_controls/src/gestures.py b/catkin_ws/src/gesture_controls/src/gestures.py
index f7fef76..cec931f 100755
--- a/catkin_ws/src/gesture_controls/src/gestures.py
+++ b/catkin_ws/src/gesture_controls/src/gestures.py
@@ -7,7 +7,7 @@
 
 face_angle_global = None
 face_count_global = None
-deadzone = 100
+deadzone = 200
 
 def angle_callback(data):
 	global face_angle_global
@@ -37,7 +37,7 @@ def leftWave():
 	LArmShoulderHori.publish(0.84)
 	LArmElbowVert.publish(1.05)
 	LArmElbowHori.publish(0)
-	NeckHori.publish(-0.94)
+	NeckHori.publish(0.95)
 	NeckVert.publish(0.8)	
 	time.sleep(1)
 	LArmElbowHori.publish(1.05)
@@ -64,7 +64,7 @@ def rightWave():
 	LArmShoulderHori.publish(1.89)
 	LArmElbowVert.publish(1.05)
 	LArmElbowHori.publish(0)
-	NeckHori.publish(0.95)
+	NeckHori.publish(-0.94)
 	NeckVert.publish(0.8)	
 	time.sleep(1)
 	RArmElbowHori.publish(0)