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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.h
29 29 
#include "../Behavior.h"
30 30 
#include "../Sensors.h"
31 31 

  		




  32
  
  
    
#define MOTOR_BASE 50


  		




  33
  
  
    
#define SCALE 20


  		




  
  32
  
    
#define MOTOR_BASE 60.0f


  		




  
  33
  
    
#define SCALE 60.0f


  		




  34
  34
  
    

  		




  35
  35
  
    
class line_follow : public Behavior


  		




  36
  36
  
    
{


  		












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