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Revision 6fab3966

ID6fab3966a8c664beb8621d6ef145904cceef783a

Added by Alex Zirbel over 11 years ago

Fixed the line following code.

Now works with new units
Fixed a bug with reading the line location, correctly centering the line between -3.5 and 3.5 rather than -4 and 3.
Also fixed a bug caused by overflow in absolute speeds sent to motor control, which fixed bouncing in line following.

View differences:

scout/libscout/src/behaviors/line_follow.cpp
38 38 
    {
39 39 
        double line_loc = linesensor->readline();
40 40 

  		




  41
  
  
    
        motor_l = -MOTOR_BASE + SCALE * line_loc;


  		




  42
  
  
    
        motor_r = -MOTOR_BASE - SCALE * line_loc;


  		




  
  41
  
    
        ROS_INFO("Line location: %lf.\n", line_loc);


  		




  
  42
  
    

  		




  
  43
  
    
        motor_l = min(max((int) (-MOTOR_BASE + SCALE * line_loc), -128), 127);


  		




  
  44
  
    
        motor_r = min(max((int) (-MOTOR_BASE - SCALE * line_loc), -128), 127);


  		




  43
  45
  
    

  		




  44
  46
  
    
        motors->set_sides(motor_l, motor_r, MOTOR_ABSOLUTE);


  		




  45
  47
  
    
    }


  		












Also available in:  Unified diff