Revision 630
synchronized speeds between modules.
1 full seek and orbit test completed.
stability still an issue.
| branches/orbit/code/behaviors/bfs_fsm/bfs_fsm.c | ||
|---|---|---|
| 73 | 73 |
if (bfs_state == BFS_FOLLOW) {
|
| 74 | 74 |
// get bom reading |
| 75 | 75 |
temp = wl_token_get_my_sensor_reading(bfs_follow_id); |
| 76 |
if (temp == -1) {
|
|
| 76 |
if (temp == -1 || temp > 16) {
|
|
| 77 | 77 |
bfs_bom_count++; |
| 78 | 78 |
if (bfs_bom_count > BFS_MAX_BOM_COUNT) {
|
| 79 | 79 |
bfs_state = BFS_SEEK; |
| ... | ... | |
| 107 | 107 |
} |
| 108 | 108 |
} |
| 109 | 109 |
if (bfs_state == BFS_ORBIT) {
|
| 110 |
usb_puts("orbiting\n");
|
|
| 110 | 111 |
while(orbit_state != ORBIT_STOP) |
| 111 | 112 |
{ orbit_fsm(); }
|
| 112 | 113 |
bfs_state = BFS_STOP; // move to stop state |
| branches/orbit/code/behaviors/bfs_fsm/smart_run_around_fsm.h | ||
|---|---|---|
| 15 | 15 |
|
| 16 | 16 |
#define BACKUP_MAX 20 |
| 17 | 17 |
#define CRAZY_MAX 200 //The number of counts between "crazy moments" |
| 18 |
#define STRAIT_SPEED 185 //The speed when going strait or backing up.
|
|
| 18 |
#define STRAIT_SPEED 160 //The speed when going strait or backing up.
|
|
| 19 | 19 |
#define TURN_CONSTANT 2 |
| 20 | 20 |
#define PCONTROL_CRAZY_LIMIT 80 |
| 21 | 21 |
|
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