Colony

Revision 979

minor changes to remote control / mapping code...wireless control works with libwireless reverted to rev. 887. code in odometry interrupt conflicts with motors, not allowing the robot to move motors in response to commands.

#include <avr/interrupt.h>

#include <dragonfly_lib.h>

void modify_velocity(void);

long lround(double d);

char control_velocity = 0;

}

void modify_velocity(){

	int diff = target_velocity - velocity;

	usb_puts("modify_velocity\n");

    int diff = target_velocity - velocity;

	if(diff > 0){

		move_speed++;

		move(move_speed,move_angle);

}

ISR(TIMER2_COMP_vect){

	odometry_run(); 

	//odometry_run(); 

}

long lround(double d){

Also available in: Unified diff