DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
Diff: main.cpp
- Revision:
- 34:083073e54dbd
- Parent:
- 33:baf24c59affc
- Child:
- 35:68917796c30a
diff -r baf24c59affc -r 083073e54dbd main.cpp --- a/main.cpp Wed Apr 20 16:11:08 2016 +0000 +++ b/main.cpp Wed Apr 20 18:25:43 2016 +0000 @@ -86,12 +86,12 @@ wait(0.5); suction.pulsewidth_us(1150); wait(0.5); - suction.pulsewidth_us(1200); - wait(0.5); suction.pulsewidth_us(1250); wait(0.5); + suction.pulsewidth_us(1300); + wait(0.5); while(1) { - suction.pulsewidth_us(1300); + suction.pulsewidth_us(1350); /*pressure=(int)read[0];//(int)pres.getTemperature(); if(pressure==88) led1=1; @@ -107,11 +107,11 @@ motion.check_xya(&xGood,&yGood,&angleGood,xTarget,angleTarget,yTarget,xya,3,3,angle_error); motion.setXstate(&xState,&xTarget,xGood,angleGood,&angleTarget,&angle_error,yTarget); - motion.setAngleTol(&angle_error,yGood,xGood); - motion.setYgoal(xGood,angleGood,yGood,&yTarget); + //motion.setAngleTol(&angle_error,yGood,xGood); + // motion.setYgoal(xGood,angleGood,yGood,&yTarget); if(motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_TURN)) { motion.setXPos(xTarget,xya.x,2,angleTarget); - motion.setYBias(yTarget,xya.y,2,angleTarget); + // motion.setYBias(yTarget,xya.y,2,angleTarget); } //loc.get_xy(&xya);