Revision 198
Recharging updated.
| departing.c | ||
|---|---|---|
| 19 | 19 |
* The counter for when we are done leaving the station. |
| 20 | 20 |
**/ |
| 21 | 21 |
int leave_station_count = 0; |
| 22 |
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int old_distance = -1; |
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| 23 | 23 |
/** |
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* Leaves the charging station. The robot will |
| 25 | 25 |
* continue to back up until it collides with |
| ... | ... | |
| 33 | 33 |
{
|
| 34 | 34 |
//TODO: use rangefinders to depart |
| 35 | 35 |
int front_distance = range_read_distance(IR2); |
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//RECHARGE_DEBUG_PUTI(front_distance); |
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//RECHARGE_DEBUG_PRINT("\n");
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| 38 | 36 |
|
| 39 | 37 |
if(front_distance != -1 && front_distance < 160) |
| 40 | 38 |
leave_station_count++; |
| 41 | 39 |
else |
| 42 | 40 |
leave_station_count = 0; |
| 43 | 41 |
|
| 44 |
if(leave_station_count > 1000)
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if(leave_station_count > 10) |
|
| 45 | 43 |
{
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| 46 | 44 |
//stop |
| 47 | 45 |
move(0,0); |
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