Revision 126
Fixed problems with motors, error in charging station delay_ms for BOM.
| seeking.c | ||
|---|---|---|
| 11 | 11 |
#define SEEK_WITH_BOM 1 |
| 12 | 12 |
#define SEEK_WITH_HOMING 2 |
| 13 | 13 |
|
| 14 |
#define SEEKING_BOM_VELOCITY -160
|
|
| 14 |
#define SEEKING_BOM_VELOCITY -170
|
|
| 15 | 15 |
#define SEEKING_HOMING_VELOCITY -160 |
| 16 | 16 |
|
| 17 | 17 |
// values for homing sensor readings |
| ... | ... | |
| 66 | 66 |
v = SEEKING_BOM_VELOCITY_TURN; |
| 67 | 67 |
*/ |
| 68 | 68 |
//TODO: uncomment this line |
| 69 |
move_avoid(v, w, 5);
|
|
| 69 |
move(v, w);
|
|
| 70 | 70 |
} |
| 71 | 71 |
|
| 72 | 72 |
//data is fresh, use it |
| 73 | 73 |
//TODO: uncomment to use homing sensor |
| 74 |
/*int widthcount = recharge_i2c_get_homing_reading();
|
|
| 74 |
int widthcount = recharge_i2c_get_homing_reading(); |
|
| 75 | 75 |
|
| 76 | 76 |
if(widthcount>= 4) |
| 77 |
return SEEK_WITH_HOMING;*/
|
|
| 77 |
return SEEK_WITH_HOMING; |
|
| 78 | 78 |
return SEEK_WITH_BOM; |
| 79 | 79 |
} |
| 80 | 80 |
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