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Dependencies:   mbed

Diff: Control/drivecontrol.cpp

Revision:
10:e69cb200dc15
Parent:
7:7215adbae3da
Child:
11:61c9b9bb9294
--- a/Control/drivecontrol.cpp	Sun May 14 19:57:34 2017 +0000
+++ b/Control/drivecontrol.cpp	Tue May 16 02:45:23 2017 +0000
@@ -32,6 +32,8 @@
 float total_error = 0.0f;
 float P = 18.0f, D = 3.0f;
 
+float turn_degree = 0.0f;
+
 namespace pid_controller {
     void navigate() {
         bool has_left_wall = leftDiagonalIR.readIR() > LEFT_WALL_THRES;
@@ -79,9 +81,14 @@
     // todo
     void turn (int dir) {
         // https://github.com/austinxiao-ucsd/Falcon-MicroMouse/blob/master/Micromouse_test/drive_control.h
-        if (TURN_LEFT) { // Flip motor 
+        if (dir == TURN_LEFT) {
+            turn_degree = -90.0;
         }
-        else { // TODO: ...
+        else if (dir == TURN_RIGHT){ 
+            turn_degree = 90.0;
+        }
+        else{
+            turn_degree = 180.0;
         }
     }
 }