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
| motion.c | ||
|---|---|---|
| 62 | 62 |
} |
| 63 | 63 |
return 0; |
| 64 | 64 |
} |
| 65 |
radius = ROBOT_WIDTH * speed1 / (speed1 - speed2); |
|
| 66 |
|
|
| 67 |
double t = speed1 / radius / MOTOR_CONVERSION_FACTOR; |
|
| 68 | 65 |
|
| 66 |
double t; |
|
| 67 |
if (speed1 != 0) |
|
| 68 |
{
|
|
| 69 |
radius = ROBOT_WIDTH * speed1 / (speed1 - speed2); |
|
| 70 |
t = speed1 / radius / MOTOR_CONVERSION_FACTOR; |
|
| 71 |
} |
|
| 72 |
else |
|
| 73 |
{
|
|
| 74 |
radius = ROBOT_WIDTH * speed2 / (speed2 - speed1); |
|
| 75 |
t = speed2 / radius / MOTOR_CONVERSION_FACTOR; |
|
| 76 |
} |
|
| 77 |
|
|
| 69 | 78 |
double newx = (radius * sin(t)) / MOTOR_CONVERSION_FACTOR; |
| 70 | 79 |
double newy = (radius - radius * cos(t)) / MOTOR_CONVERSION_FACTOR; |
| 71 | 80 |
|
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