3/26/16 12:25 am JJ
Dependents: steppertest R5 2016 Robotics Team 1
Fork of scanner by
Diff: scanner.cpp
- Revision:
- 10:6a630acaeadb
- Parent:
- 8:32a445ae1d72
- Child:
- 11:c6152a32a104
diff -r 32a445ae1d72 -r 6a630acaeadb scanner.cpp --- a/scanner.cpp Sat Mar 26 05:26:17 2016 +0000 +++ b/scanner.cpp Sat Mar 26 16:51:33 2016 +0000 @@ -37,9 +37,11 @@ distForwardL = 0.0; distForwardR = 0.0; - // initializing to avoid status - avoidFlag = 1; + // initializing to localizeRight status + avoidFlag = 0; huntFlag = 0; + localizeRightFlag = 1; + localizeLeftFlag = 0; invertL = -1; invertR = 1; dutyL = MAX_DUTY; @@ -275,6 +277,12 @@ { if (pitEnable == 1) { + if (localizeRightFlag == 1) + localizeRight(); + + if (localizeLeftFlag == 1) + localizeLeft(); + /*// obtain distance measures from sensors distLeft = longRangeL.distInchesL(); distRight = longRangeR.distInchesR(); @@ -292,7 +300,7 @@ { // add hunt code }*/ - +/* // increment/decrement servo position dutyL += invertL; dutyR += invertR; @@ -303,6 +311,6 @@ { invertL *= -1; invertR *= -1; - } + }*/ } }