Revision 6ee555a3
Changed scout constants to refresh faster. Also retuned linefollowing for faster refresh rate.
| scout/libscout/src/behaviors/line_follow.cpp | ||
|---|---|---|
| 30 | 30 |
static int motor_l; |
| 31 | 31 |
static int motor_r; |
| 32 | 32 |
|
| 33 |
Duration init_turn_time(1.5);
|
|
| 33 |
Duration init_turn_time(0.4);
|
|
| 34 | 34 |
|
| 35 | 35 |
void line_follow::follow_line() |
| 36 | 36 |
{
|
| ... | ... | |
| 38 | 38 |
{
|
| 39 | 39 |
double line_loc = linesensor->readline(); |
| 40 | 40 |
|
| 41 |
motor_l = min(max((int) (-MOTOR_BASE + SCALE * line_loc), -128), 127); |
|
| 42 |
motor_r = min(max((int) (-MOTOR_BASE - SCALE * line_loc), -128), 127); |
|
| 41 |
if (line_loc == 0.0) |
|
| 42 |
{
|
|
| 43 |
motors->set_sides(-60, -60, MOTOR_ABSOLUTE); |
|
| 44 |
continue; |
|
| 45 |
} |
|
| 46 |
|
|
| 47 |
motor_l = min(max((int) (-MOTOR_BASE + KP * line_loc), -128), 127); |
|
| 48 |
motor_r = min(max((int) (-MOTOR_BASE - KP * line_loc), -128), 127); |
|
| 43 | 49 |
|
| 44 | 50 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 45 | 51 |
} |
| 46 | 52 |
while(!linesensor->fullline()); |
| 47 | 53 |
halt(); |
| 48 |
ROS_INFO("Intersection reached!");
|
|
| 49 | 54 |
} |
| 50 | 55 |
|
| 51 | 56 |
void line_follow::turn_straight() |
| ... | ... | |
| 67 | 72 |
do |
| 68 | 73 |
{
|
| 69 | 74 |
motor_l = -MOTOR_BASE; |
| 70 |
motor_r = 3*MOTOR_BASE/5;
|
|
| 75 |
motor_r = 2*MOTOR_BASE/5;
|
|
| 71 | 76 |
|
| 72 | 77 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 73 | 78 |
|
| ... | ... | |
| 119 | 124 |
float line_loc; |
| 120 | 125 |
do |
| 121 | 126 |
{
|
| 122 |
motor_l = 3*MOTOR_BASE/5;
|
|
| 127 |
motor_l = 2*MOTOR_BASE/5;
|
|
| 123 | 128 |
motor_r = -MOTOR_BASE; |
| 124 | 129 |
|
| 125 | 130 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
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