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Revision 715

Added by Chris Mar about 16 years ago

tweaked smart_run_around for recharging...from now on, it will be known as smart_walk/crawl_around. slowing everything down seems to make recharging much more stable. maybe demo-ready.

View differences:

smart_run_around_fsm.h
15 15 

  		




  16
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#define BACKUP_MAX 60


  		




  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.


  		




  19
  
  
    
#define TURN_CONSTANT 2


  		




  
  18
  
    
#define STRAIT_SPEED 155    //The speed when going strait or backing up.


  		




  
  19
  
    
#define TURN_CONSTANT 5


  		




  20
  20
  
    
#define PCONTROL_CRAZY_LIMIT 80


  		




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  22
  22
  
    
int avoid_state;


  		












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