Diff: main_processing/strategy/strategy.cpp

Revision:

37:ae5661306900

Parent:

36:50092d488f78

Child:

38:a7eb15b1f813

--- a/main_processing/strategy/strategy.cpp	Wed Feb 03 07:46:32 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Wed Feb 03 09:14:49 2016 +0000
@@ -147,25 +147,35 @@
     LineBind[C_SPOT] = ((IrRange[C_SPOT]==1)&&((LineDir[C_SPOT]==0)||(LineBind[C_SPOT]==1)));
     LineBind[AB_SPOT] = ((IrRange[AB_SPOT]==1)&&((LineDir[AB_SPOT]==0)||(LineBind[AB_SPOT]==1)));
     */
-    
+    vx = vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0));
+    vy = vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0));
+    vs = data.OutputPID;
     if((LineBind[A_SPOT]==1)||(LineBind[B_SPOT]==1)||(LineBind[C_SPOT]==1)||(LineBind[AB_SPOT]==1)){
-        if(((LinePulse[A_SPOT]==1)||(LinePulse[B_SPOT]==1)||(LinePulse[C_SPOT]==1)||(LinePulse[AB_SPOT]==1)||1)&&(LineReverseFlag==0)){
+        /*if(((LinePulse[A_SPOT]==1)||(LinePulse[B_SPOT]==1)||(LinePulse[C_SPOT]==1)||(LinePulse[AB_SPOT]==1))&&(LineReverseFlag==0)){
             LineReverseFlag=1;
-            Line_timeout.attach(&LineReverse, 1.0);
+            Line_timeout.attach(&LineReverse, 0.5);
         }
         if(LineReverseFlag==1){
-            vx=(LINE_RF*2)*((-1)*LineBind[A_SPOT] +      LineBind[B_SPOT]);
-            vy=(LINE_RF*2)*(     LineBind[C_SPOT] + (-1)*LineBind[AB_SPOT]);
+            vx+=(LINE_RF*2)*((-1)*LineBind[A_SPOT] +      LineBind[B_SPOT]);
+            vy+=(LINE_RF*2)*(     LineBind[C_SPOT] + (-1)*LineBind[AB_SPOT]);
+        }
+        else{
+            vx=0;
+            vy=0;
+        }*/
+        if(RawLineSignal>0){
+            vx=(LINE_RF*2)*((-1)*IrRange[A_SPOT] +      IrRange[B_SPOT]);
+            vy=(LINE_RF*2)*(     IrRange[C_SPOT] + (-1)*IrRange[AB_SPOT]);
         }
         else{
             vx=0;
             vy=0;
         }
     }
-    vs = data.OutputPID;
+    
     move(
-        vx*LineStop[X_AXIS] + (LINE_RF)*(vy!=0)*((-1)*(LineDir[A_SPOT]==0) + (LineDir[B_SPOT]==0)),
-        vy*LineStop[Y_AXIS] + (LINE_RF)*(vx!=0)*((LineDir[C_SPOT]==0) + (-1)*(LineDir[AB_SPOT]==0)),
+        vx,
+        vy,
         vs
     );
     /*