Revision 9:e2feaadf504c, committed 2015-11-20

Comitter:

intgsull

Date:

Fri Nov 20 04:18:00 2015 +0000

Parent:

8:a254346f20aa

Commit message:

IR stuff added

Changed in this revision

--- a/AVEncoder.lib	Wed Nov 18 07:55:13 2015 +0000
+++ b/AVEncoder.lib	Fri Nov 20 04:18:00 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/aravindsv/code/AVEncoder/#e0e5901955cd
+https://developer.mbed.org/users/intgsull/code/AVEncoder/#e0e5901955cd

--- a/main.cpp	Wed Nov 18 07:55:13 2015 +0000
+++ b/main.cpp	Fri Nov 20 04:18:00 2015 +0000
@@ -100,7 +100,7 @@
 void stop();
 void moveForward();
 void turn();
-
+void irReset();
 
 //irPID function to not crash into stuff 
 
@@ -127,14 +127,12 @@
  eRS = 1;  
  if(rLS > leftWall && rRS > rightWall)//walls on both sides
     {  
-        leftDistance = rLS;
-        rightDistance = rRS;
-        irError = rightDistance; //– leftDistance – irOffset;
-        irError -= leftDistance;
-        irError -= irOffset;
+        //leftDistance = rLS;
+//        rightDistance = rRS;
+        irError = rRS-rLS-irOffset; //– leftDistance – irOffset;
         
-        irErrorD = irError;
-        irErrorD -= oldirError;//(irError – oldirError);
+        irErrorD = irError-oldirError;
+        //irErrorD -= oldirError;//(irError – oldirError);
         
         irErrorI += irError;
     }        
@@ -375,7 +373,7 @@
 {
     mouse_state = TURNING; 
     float angle = 0;
-    while (angle < 0.9)
+    while (angle < 0.90)
     {
         float gyro_val = _gyro.read() - gyro_offset;
         angle += gyro_val;
@@ -387,4 +385,11 @@
         motor2_forward = 0;
         motor2_reverse = 0.5;
     }    
-}
\ No newline at end of file
+}
+void irReset() //maybe split resets
+{
+    eRF = 0;
+    eRS = 0;
+    eLF = 0;
+    eRF = 0;
+    }
\ No newline at end of file