Revision c840fbe6
Changed linefollowing so that turns start working once again. Also fixed some bugs with maze solving.
| 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(0.5);
|
|
| 33 |
Duration init_turn_time(1.5);
|
|
| 34 | 34 |
|
| 35 | 35 |
void line_follow::follow_line() |
| 36 | 36 |
{
|
| ... | ... | |
| 67 | 67 |
do |
| 68 | 68 |
{
|
| 69 | 69 |
motor_l = -MOTOR_BASE; |
| 70 |
motor_r = MOTOR_BASE/8;
|
|
| 70 |
motor_r = 3*MOTOR_BASE/5;
|
|
| 71 | 71 |
|
| 72 | 72 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
| 73 | 73 |
|
| ... | ... | |
| 100 | 100 |
|
| 101 | 101 |
if(first) |
| 102 | 102 |
{
|
| 103 |
while(line_loc < 2 && line_loc > -2) |
|
| 103 |
do |
|
| 104 |
{
|
|
| 104 | 105 |
line_loc = linesensor->readline(); |
| 106 |
} |
|
| 107 |
while(line_loc < 2 && line_loc > -2); |
|
| 105 | 108 |
|
| 106 | 109 |
first = false; |
| 107 | 110 |
} |
| ... | ... | |
| 116 | 119 |
float line_loc; |
| 117 | 120 |
do |
| 118 | 121 |
{
|
| 119 |
motor_l = MOTOR_BASE/8;
|
|
| 122 |
motor_l = 3*MOTOR_BASE/5;
|
|
| 120 | 123 |
motor_r = -MOTOR_BASE; |
| 121 | 124 |
|
| 122 | 125 |
motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE); |
Also available in: Unified diff