Revision 210
Somewhat working version of recharging.
| seeking.c | ||
|---|---|---|
| 13 | 13 |
#define SEEK_WITH_HOMING 2 |
| 14 | 14 |
|
| 15 | 15 |
#define SEEKING_BOM_VELOCITY -170 |
| 16 |
#define SEEKING_HOMING_VELOCITY -180 |
|
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#define SEEKING_HOMING_VELOCITY -170 |
|
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#define SEEKING_HOMING_FORWARD_VELOCITY -180 |
|
| 17 | 18 |
|
| 18 | 19 |
//function prototypes |
| 19 | 20 |
int seek_station_with_bom(int station); |
| ... | ... | |
| 69 | 70 |
int seek_station_with_homing_sensor(void) |
| 70 | 71 |
{
|
| 71 | 72 |
int widthcount = recharge_i2c_get_homing_reading(); |
| 72 |
int direction = homing_direction(widthcount);
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switch(direction)
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{
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case HOMING_NONE:
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return SEEK_WITH_BOM;
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| 78 |
break;
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| 79 |
case HOMING_FORWARD:
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move(SEEKING_HOMING_VELOCITY, 0);
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break;
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case HOMING_LEFT:
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move(SEEKING_HOMING_VELOCITY, 3);
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break;
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case HOMING_RIGHT:
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move(SEEKING_HOMING_VELOCITY, -3);
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break;
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}
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| 89 |
|
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int direction = homing_direction(widthcount);
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switch(direction)
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{
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case HOMING_NONE:
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return SEEK_WITH_BOM;
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break;
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| 80 |
case HOMING_FORWARD:
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move(SEEKING_HOMING_FORWARD_VELOCITY, 0);
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break;
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case HOMING_LEFT:
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move(SEEKING_HOMING_VELOCITY, 3);
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break;
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case HOMING_RIGHT:
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move(SEEKING_HOMING_VELOCITY, -3);
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break;
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}
|
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| 90 |
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| 90 | 91 |
return SEEK_WITH_HOMING; |
| 91 | 92 |
} |
| 92 | 93 |
|
Also available in: Unified diff