uyvug
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver HCSR04 PID PololuQik2 QEI Sharp mbed-rtos
Fork of theRobot by
Diff: main.cpp
- Revision:
- 32:4a42f61f64a6
- Parent:
- 31:99cf9c25b0f2
- Child:
- 33:a41981e18a7d
--- a/main.cpp Mon Apr 21 18:27:12 2014 +0000 +++ b/main.cpp Mon Apr 21 19:23:26 2014 +0000 @@ -213,8 +213,8 @@ //increase in number 5 rotates gripper {STORE_POSITION, 85, 8, 0, 170, 60, 0}, // storing position - {OIL_RIG1, 164, 20, 60, 100, 175, 0}, // point laser at oilrig1 - {OIL_RIG2, 164, 20, 60, 100, 175, 0}, // point laser at oilrig2 + {OIL_RIG1, 158, 20, 61, 100, 175, 0}, // point laser at oilrig1 + {OIL_RIG2, 158, 20, 61, 100, 175, 0}, // point laser at oilrig2 {OIL_RIG3, 130, 90, 90, 100, 175, 0}, // NOT USED!!!!! point laser at oilrig2 {DRIVE_POSITION_NOTOOL, 85, 10, 0, 165, 60, 0}, // Drive through course {TOOL_1, 101, 50, 80, 133, 60, 0}, // Look over first tool @@ -222,9 +222,9 @@ {TOOL_3, 62, 50, 80, 132, 60, 0}, // Look over third tool {DRIVE_POSITION_TOOL, 85, 10, 0, 165, 140, 120}, // Drive with tool loaded {ORIENT_TOOL, 135, 60, 75, 60, 90, 90}, // position tool to be inserted - {PU_TOOL_1, 99, 46, 78, 110, 170, 0}, // STATIC Pickup tool POSITION - {PU_TOOL_2, 76, 47, 80, 112, 170, 0}, // STATIC Pickup tool POSITION - {PU_TOOL_3, 59, 44, 76, 110, 170, 0}, // STATIC Pickup tool POSITION + {PU_TOOL_1, 99, 46, 78, 110, 138, 0}, // STATIC Pickup tool POSITION + {PU_TOOL_2, 76, 47, 80, 112, 138, 0}, // STATIC Pickup tool POSITION + {PU_TOOL_3, 59, 44, 76, 110, 138, 0}, // STATIC Pickup tool POSITION {INSERT_TOOL_1, 170, 50, 127, 52, 140, 120}, // InsertToolIntoRig }; @@ -618,9 +618,9 @@ wait(5); setServoPulse(0, Arm_Table[PU_TOOL_3].base_rotate - 1); wait(1); - setServoPulse(1, Arm_Table[PU_TOOL_2].base_arm - 2); + setServoPulse(1, Arm_Table[PU_TOOL_3].base_arm - 2); wait(1); - setServoPulse(3, Arm_Table[PU_TOOL_2].claw_arm - 3); + setServoPulse(3, Arm_Table[PU_TOOL_3].claw_arm - 2); wait(1); setServoPulse(4, 175); wait(2); @@ -1287,7 +1287,7 @@ leftEncoder.reset(); rightEncoder.reset(); motors.setMotor0Speed(dir*0.25*127); //right - motors.setMotor1Speed(dir*0.25*127); //left + motors.setMotor1Speed(dir*0.23*127); //left while(abs(leftEncoder.getPulses()) < pulses || abs(rightEncoder.getPulses()) < pulses); motors.stopBothMotors(127); @@ -1428,7 +1428,7 @@ pc.printf("IR front %f \t back %f \r\n", IRLeftFront.getIRDistance(), IRLeftBack.getIRDistance()); - if(IRLeftFront.getIRDistance() < 40 || IRLeftBack.getIRDistance() < 40) { + if(IRLeftFront.getIRDistance() < 40 && IRLeftBack.getIRDistance() < 40) { wall_follow2(LEFT,BACKWARD,TOOLS, current,0); pc.printf("IR front %f \t back %f \r\n", IRLeftFront.getIRDistance(), IRLeftBack.getIRDistance());