Diff: driving.h

Revision:

30:ab358e8a9e6a

Parent:

28:1c2eb25d624e

Child:

31:d570f957e083

--- a/driving.h	Fri Nov 19 20:27:56 2021 +0000
+++ b/driving.h	Fri Nov 19 22:53:54 2021 +0000
@@ -17,6 +17,8 @@
 #define speedSensorScalar 2.5f
 #define battDividerScalar 4.2;
 
+#define constSpeed = 0.17;
+
 AnalogIn pot1(PTB2); //was PTB0
 // Motor Left is PTE20 
 // Motor right is pte 21
@@ -55,8 +57,11 @@
 float controllerOutputRight = 0;
 float x;
 
+Timer t;
+
 bool clampLeft = false;
 bool clampRight = false;
+bool override = false;
 
 bool brakeLeftBool = false;
 bool brakeRightBool = false;
@@ -71,14 +76,14 @@
     are_brakes_activated = true;
     brakeLeft = 1;
     brakeRight = 1;
-    errorAreaRight = 0.0;
-     errorAreaLeft = 0.0;
-     
+  //  errorAreaRight = 0.0;
+  //  errorAreaLeft = 0.0;
     };
-void _steering(void){
+void _tempBraking(void){
     
     }
 
+
 /* 
     Always set duty cycle to zero (disabling the motor), unless the motor is enabled 
     (motor_enabled = true);
@@ -95,27 +100,59 @@
      //_steering();
 
     if(motor_enabled == true) {
-       if(counter == 0 && lap == 0 )
+       if(lap == 0)
        {
-           setpointLeft = 0.17;
-           setpointRight = 0.17;
+           setpointLeft = 0.15;
+           setpointRight = 0.15;
            }
-        else if(counter == 0 && lap == 3 )
+        else if (counter == 0 & lap == 1)
+        {
+            setpointLeft = 0.3; //0.4 is too fast on sraightaway
+            setpointRight = 0.3; //0.25 is good
+        }    
+        else if (counter == 1 & lap == 1)
         {
-            setpointLeft = 0.17;
-            setpointRight = 0.17;
+            setpointLeft = 0.2;
+            setpointRight = 0.2;
+            enable_brakes();  //uncomment out to brake on big turn
+            t.start();
+            if (t.read_ms() > 400)
+            {
+            disable_brakes();
+            t.stop();    
+            }  
+        }
+        else if (counter == 4 & lap == 1)
+        {
+            setpointLeft = 0.2;
+            setpointRight = 0.2;    
         }
-        else if(counter !=0 && lap == 3 )
+        
+        else if(counter == 5 && lap == 1)
         {
-            setpointLeft = 0.17;
-           setpointRight = 0.17;
-            
+            setpointLeft = 0.2;
+           setpointRight = 0.2;
             }
-        else 
+        else if (lap >= 2)
         {
-        setpointLeft = 0.17;
-        setpointRight = 0.17;    
+        setpointLeft = 0.15;
+        setpointRight = 0.15;    
         }
+        
+        else {
+        setpointLeft = 0.2;
+        setpointRight = 0.2;    
+            }
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
        //  setpointLeft = 0.1;
     //     setpointRight = 0.1;
         //--- Calculate Error ---
@@ -189,7 +226,7 @@
             
             
                
-            //--- set motors to calculated output ---    
+            //--- set motors to calculated output ---
             motorLeft.write(dutyCycleLeft); // 0.2 For debugging 
             motorRight.write(dutyCycleRight);