Revision 211
Modified smart_run_around_fsm to fix the direction and make it smoother
| smart_run_around_fsm.h | ||
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| 13 | 13 |
#define LEFT 37 //Left |
| 14 | 14 |
#define RIGHT 39 //Right |
| 15 | 15 |
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| 16 |
#define BACKUP_MAX 15
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| 16 |
#define BACKUP_MAX 20
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| 17 | 17 |
#define CRAZY_MAX 200 //The number of counts between "crazy moments" |
| 18 |
#define STRAIT_SPEED 200 //The speed when going strait or backing up.
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| 18 |
#define STRAIT_SPEED 185 //The speed when going strait or backing up.
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| 19 | 19 |
#define TURN_CONSTANT 2 |
| 20 | 20 |
#define PCONTROL_CRAZY_LIMIT 80 |
| 21 | 21 |
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