Diff: scanner.cpp

Revision:

13:8767be1c5cc2

Parent:

12:514544a4014f

Child:

14:d327852dafd1

--- a/scanner.cpp	Sat Mar 26 23:21:13 2016 +0000
+++ b/scanner.cpp	Sat Mar 26 23:28:14 2016 +0000
@@ -346,6 +346,12 @@
 {
     if (pitEnable == 1)
     {
+        if (localizeRightFlag == 1)
+            localizeRight();
+        
+        if (localizeLeftFlag == 1)
+            localizeLeft();
+        
         /*// obtain distance measures from sensors
         distLeft = longRangeL.distInchesL();
         distRight = longRangeR.distInchesR();
@@ -364,7 +370,7 @@
             // add hunt code
         }*/
 
-        // increment/decrement servo position
+/*        // increment/decrement servo position
         dutyL += invertL;
         dutyR += invertR;
         servoL.write(DUTY[dutyL]);
@@ -374,6 +380,6 @@
         {
             invertL *= -1;
             invertR *= -1;
-        }
+        }*/
     }
 }