Diff: steering_methods.h

Revision:

19:65fecaa2a387

Parent:

18:831c1e03d83e

Child:

20:7dcdadbd7bc0

--- a/steering_methods.h	Tue Oct 26 22:56:10 2021 +0000
+++ b/steering_methods.h	Thu Oct 28 00:28:29 2021 +0000
@@ -35,14 +35,25 @@
     }
 //  ------------ LANDMARK DETECTION ------------
 int counter = 0;
+volatile bool landmark_triggered=false; // Debugging purposes only
+volatile bool restarted = false;        // Debugging purposes only
 void landmark_counter(void){
+    landmark_triggered=false; // Debugging purposes only
+    restarted = false;        // Debugging purposes only
     if(counter >= 15)
         counter =0;
     turn_seg_off(seg1);
     if(right_landmark_sensor.read() == 1 || left_landmark_sensor.read() == 1  )
+    {
+        landmark_triggered =true; // Debugging purpose only
         counter++ ;
+           
+      }  
     if(right_landmark_sensor.read() == 1 && left_landmark_sensor.read() == 1 )
-        counter = 0;
+      {  
+      counter = 0;
+      restarted=true;       // Debugging purposes only
+      }
 
    show_decimal(counter, seg1);
     }
@@ -66,8 +77,8 @@
     float err;
     if(steering_enabled == true ){
         //Read each sensor and calculate the sensor difference
-        float sensor_difference = left_distance_sensor.read()1*4 -
-                                  right_distance_sensor.read();
+        float sensor_difference = left_distance_sensor.read() -
+                                  right_distance_sensor.read()*1.4;
                                   
         //calculate the feedback term for the controller. distance (meters) from
         //track to sensor
@@ -86,7 +97,7 @@
         float servo_angle = (KP*err + KD*errChange*TIME_DERIVATIVE)/10;
         //Calculate the duty cycle for the servo motor
         current_duty_cycle = rad2dc(servo_angle);
-        if( abs(current_duty_cycle - prev_duty) >= 0.0001){
+        if( abs(current_duty_cycle - prev_duty) >= 0.0000103){
             servo_motor_pwm.write(current_duty_cycle);
             };
       }