Revision 1115
Smart run around mostly works!!!
Thanks to Brian for fixing a bug in motion code
divide by 0 zero error in motion.c
Makefile cleans .csim and copy it over
GUI no longer fill the robot
| rangefinder.c | ||
|---|---|---|
| 59 | 59 |
// hacky conversion |
| 60 | 60 |
#define IR_MAX 800 |
| 61 | 61 |
#define IR_MIN 100 |
| 62 |
#define IR_CONVERSION_FACTOR 2.0
|
|
| 62 |
#define IR_CONVERSION_FACTOR 1.0
|
|
| 63 | 63 |
|
| 64 | 64 |
void range_init(void) |
| 65 | 65 |
{
|
| ... | ... | |
| 92 | 92 |
} |
| 93 | 93 |
ir_value = ((temp / IR_CONVERSION_FACTOR) + IR_MIN); |
| 94 | 94 |
ir_value = ir_value > IR_MAX ? IR_MAX : ir_value; |
| 95 |
printf("[%d]: %d\n", range_id, ir_value);
|
|
| 96 | 95 |
if (temp >= 0 && temp <= 1000) return ir_value; |
| 97 | 96 |
return -1; |
| 98 | 97 |
} |
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