Revision 584
added a define value for the change in direction used by the fsm.
code worked in my trail w/ robot 1 as the decoy, robo 7 as the driver
| orbit_fsm.c | ||
|---|---|---|
| 35 | 35 |
orbit_pControl=0; |
| 36 | 36 |
orbit_bom = 0; |
| 37 | 37 |
orbit_theta = 0; |
| 38 |
orbit_theta_stop = -1;
|
|
| 38 |
orbit_theta_stop = 1000;
|
|
| 39 | 39 |
|
| 40 | 40 |
/*Initialize distances to zero.*/ |
| 41 | 41 |
orbit_d1=1000; orbit_d2=1000; orbit_d3=1000; orbit_d4=1000; orbit_d5=1000; |
| ... | ... | |
| 133 | 133 |
if (orbit_bom == ORBIT_DIRECTION) |
| 134 | 134 |
orbit_pControl = ORBIT_DIRECTION; |
| 135 | 135 |
else if (orbit_bom < ORBIT_DIRECTION) |
| 136 |
orbit_pControl = ORBIT_DIRECTION-5;
|
|
| 136 |
orbit_pControl = ORBIT_DIRECTION-ORBIT_CORRECTION;
|
|
| 137 | 137 |
else |
| 138 |
orbit_pControl = ORBIT_DIRECTION+5;
|
|
| 138 |
orbit_pControl = ORBIT_DIRECTION+ORBIT_CORRECTION;
|
|
| 139 | 139 |
|
| 140 | 140 |
move(ORBIT_STRAIGHT_SPEED,orbit_pControl); |
| 141 | 141 |
break; |
Also available in: Unified diff