TRR 2018 / Mbed 2 deprecated biniou-TRR2019-chassis2

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Dependencies:   mbed MPU6050

Diff: chassis_mode.cpp

Revision:
9:1b54bac6d9a7
Parent:
8:f23601373e8b
Child:
15:0f89d1ff860d
diff -r f23601373e8b -r 1b54bac6d9a7 chassis_mode.cpp
--- a/chassis_mode.cpp	Wed Oct 02 22:25:12 2019 +0000
+++ b/chassis_mode.cpp	Thu Oct 03 23:28:56 2019 +0000
@@ -3,15 +3,18 @@
 DigitalIn b_CHASSIS_Mode(PE_11);
 bool b_CHASSIS_with_pushbutton;
 double d_CHASSIS_dist_one_step_odom;
+double d_CHASSIS_inversion = 1.0;
 
 void init_chassis_mode()
 {
     b_CHASSIS_Mode.mode(PullUp);
     if(b_CHASSIS_Mode.read()) {
         b_CHASSIS_with_pushbutton = false;
-        d_CHASSIS_dist_one_step_odom = 0.08;
+        d_CHASSIS_inversion = -1.0;
+        d_CHASSIS_dist_one_step_odom = 0.066;
     } else {
         b_CHASSIS_with_pushbutton = true;
+        d_CHASSIS_inversion = 1.0;
         d_CHASSIS_dist_one_step_odom = 0.066;
     }
     return;