Revision 1778
changed joystick player robot to have dleays between motion states. It's now less responsive but also resets much less
| main.c | ||
|---|---|---|
| 128 | 128 |
} |
| 129 | 129 |
break; |
| 130 | 130 |
case WAIT: |
| 131 |
motor1_set(0,0); |
|
| 132 |
motor2_set(0,0); |
|
| 131 | 133 |
orbs_set_color(BLUE, BLUE); |
| 132 | 134 |
delay_ms(WAIT_DELAY_MS); |
| 133 | 135 |
state = HUNTER; |
| ... | ... | |
| 169 | 171 |
int times; |
| 170 | 172 |
int frontIR = 0; |
| 171 | 173 |
int maxBOM = 0; |
| 174 |
static int last = 0; |
|
| 172 | 175 |
|
| 173 | 176 |
/* if we are in WAIT, don't move or tag */ |
| 174 | 177 |
if(state == WAIT) |
| 175 | 178 |
return; |
| 176 | 179 |
|
| 180 |
/* usb_puti(type); usb_putc('\n'); */
|
|
| 181 |
|
|
| 182 |
/* // If the robot is changing direction, stop it for a bit first */ |
|
| 183 |
/* if (last != type) { */
|
|
| 184 |
/* if( (last == CNTL_FORWARD || last == CNTL_BACK || last == CNTL_LEFT || last == CNTL_RIGHT) && */ |
|
| 185 |
/* (type == CNTL_FORWARD || type == CNTL_BACK || type == CNTL_LEFT || type == CNTL_RIGHT)) { */
|
|
| 186 |
/* usb_puts("x\n"); */
|
|
| 187 |
/* motor1_set(0,0); */ |
|
| 188 |
/* motor2_set(0,0); */ |
|
| 189 |
/* delay_ms(100); */ |
|
| 190 |
/* } */ |
|
| 191 |
/* } */ |
|
| 192 |
|
|
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/* last = type; */ |
|
| 194 |
|
|
| 177 | 195 |
switch (type) {
|
| 178 | 196 |
case CNTL_FORWARD: |
| 179 | 197 |
motor1_set(1, 250); |
| ... | ... | |
| 182 | 200 |
case CNTL_STOP: |
| 183 | 201 |
motor1_set(0, 0); |
| 184 | 202 |
motor2_set(0, 0); |
| 203 |
delay_ms(220); // 100:200 |
|
| 185 | 204 |
break; |
| 186 | 205 |
case CNTL_BACK: |
| 187 | 206 |
motor1_set(0, 250); |
Also available in: Unified diff