Texas State IEEE / Mbed 2 deprecated R5 2016 Robotics Team 1

Code to drive Team 1's robot for the 2016 R5 robotics competition.

Dependencies:   mbed navigation R5_StepperDrive LongRangeSensor DistanceSensor scanner Gripper ColorSensor

Diff: r5driver.cpp

Revision:
41:029135230ebf
Parent:
40:2d33bb4d6d6f
Child:
42:1284491771ff
--- a/r5driver.cpp	Fri Apr 08 01:36:13 2016 +0000
+++ b/r5driver.cpp	Fri Apr 08 04:36:00 2016 +0000
@@ -44,7 +44,7 @@
 bluetooth.printf("\nLong Range Sensors created");
 
     StepperDrive drive(bluetooth, PTE19, PTE18, 1, PTE3, PTE2, 0, 10.0625, 
-        8.2, 700); // 8.4800
+        8.1875, 700); // 8.4800
               /* (serial &, stepPinLeft, dirPinLeft, invertLeft, 
               stepPinRight, dirPinRight, invertRight, wheelCircum, 
               wheelSepar, periodUs) */
@@ -230,7 +230,7 @@
     pc.printf("\nBack up to a safe turn around location");
     bluetooth.printf("\nBack up to a safe turn around location");
     r5map.localizeLeftReverse();
-    reverseMove(drive, 6.0, 0);
+    reverseMove(drive, 8.0, 0);
     // wait for move to complete
     while(!drive.isMoveDone())
     {
@@ -242,7 +242,7 @@
     // turn 180 degrees to left
     pc.printf("\nTurn left 180 degrees");
     bluetooth.printf("\nTurn left 180 degrees");    
-    drive.move(0, -180.0*(3.14159/180));
+    drive.move(0, -185.0*(3.14159/180));
     // wait for move to complete
     while(!drive.isMoveDone())
     {
@@ -270,7 +270,7 @@
     /* back up to safe turn-around location */
     pc.printf("\nBack up to a safe turn around location");
     bluetooth.printf("\nBack up to a safe turn around location");
-    r5map.localizeLeftReverse();
+    r5map.newLocalizeLeftReverse();
     reverseMove(drive, 2.0, 0);
     // wait for move to complete
     while(!drive.isMoveDone())
@@ -278,7 +278,7 @@
         wait(1e-6);
     } 
     r5map.setVertex(34);
-    r5map.localizeLeftReverse();
+    r5map.newLocalizeLeftReverse();
     reverseMove(drive, 7.0, 0);
     // wait for move to complete
     while(!drive.isMoveDone())
@@ -286,7 +286,7 @@
         wait(1e-6);
     }  
     r5map.setVertex(33);
-    r5map.localizeLeftReverse();
+    r5map.newLocalizeLeftReverse();
     reverseMove(drive, 7.0, 0);
     // wait for move to complete
     while(!drive.isMoveDone())
@@ -294,7 +294,7 @@
         wait(1e-6);
     }  
     r5map.setVertex(32);
-    r5map.localizeLeftReverse();
+    r5map.newLocalizeLeftReverse();
     reverseMove(drive, 7.0, 0);
     // wait for move to complete
     while(!drive.isMoveDone())
@@ -302,7 +302,7 @@
         wait(1e-6);
     } 
     r5map.setVertex(31);
-    r5map.localizeLeftReverse();
+    r5map.newLocalizeLeftReverse();
     reverseMove(drive, 6.0, 0);
     // wait for move to complete
     while(!drive.isMoveDone())
@@ -310,7 +310,7 @@
         wait(1e-6);
     }  
     r5map.setVertex(30);
-    r5map.localizeLeftReverse();
+    r5map.newLocalizeLeftReverse();
     
     
     target = RED_DROP_ZONE;