Diff: driving.h

Revision:

31:d570f957e083

Parent:

30:ab358e8a9e6a

Child:

32:ec8c9a82d9fc

--- a/driving.h	Fri Nov 19 22:53:54 2021 +0000
+++ b/driving.h	Mon Nov 22 21:44:10 2021 +0000
@@ -58,6 +58,7 @@
 float x;
 
 Timer t;
+Timer laptimer;
 
 bool clampLeft = false;
 bool clampRight = false;
@@ -100,23 +101,23 @@
      //_steering();
 
     if(motor_enabled == true) {
-       if(lap == 0)
+     if(lap == 0 & counter < 7)
        {
            setpointLeft = 0.15;
            setpointRight = 0.15;
            }
-        else if (counter == 0 & lap == 1)
+        else if (counter == 7 & lap == 0)
         {
-            setpointLeft = 0.3; //0.4 is too fast on sraightaway
-            setpointRight = 0.3; //0.25 is good
+            setpointLeft = 0.32; //0.4 is too fast on sraightaway
+            setpointRight = 0.32; //0.25 is good
         }    
         else if (counter == 1 & lap == 1)
         {
-            setpointLeft = 0.2;
-            setpointRight = 0.2;
+            setpointLeft = 0.24;
+            setpointRight = 0.24;
             enable_brakes();  //uncomment out to brake on big turn
             t.start();
-            if (t.read_ms() > 400)
+            if (t.read_ms() > 250)
             {
             disable_brakes();
             t.stop();    
@@ -124,15 +125,45 @@
         }
         else if (counter == 4 & lap == 1)
         {
-            setpointLeft = 0.2;
-            setpointRight = 0.2;    
+            setpointLeft = 0.24;
+            setpointRight = 0.24;    
         }
         
         else if(counter == 5 && lap == 1)
         {
-            setpointLeft = 0.2;
-           setpointRight = 0.2;
+            enable_brakes();
+          t.start();
+        
+            if (t.read_ms() > 50)
+            {
+            disable_brakes();
+            t.stop();    
+            }    
+            setpointLeft = 0.22;
+           setpointRight = 0.22;
             }
+        else if(counter == 3 && lap == 1 )
+        {
+          enable_brakes();
+          t.start();
+        
+            if (t.read_ms() > 200)
+            {
+            disable_brakes();
+            t.stop();    
+            }    
+        }
+        else if(counter == 7 && lap == 1 )
+        {
+          enable_brakes();
+          t.start();
+        
+            if (t.read_ms() > 80)
+            {
+            disable_brakes();
+            t.stop();    
+            }    
+        }
         else if (lap >= 2)
         {
         setpointLeft = 0.15;
@@ -140,19 +171,12 @@
         }
         
         else {
-        setpointLeft = 0.2;
-        setpointRight = 0.2;    
+        setpointLeft = 0.24;
+        setpointRight = 0.24;    
             }
         
         
-        
-        
-        
-        
-        
-        
-        
-        
+    
        //  setpointLeft = 0.1;
     //     setpointRight = 0.1;
         //--- Calculate Error ---