DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
Diff: LOCOMOTION.cpp
- Revision:
- 33:baf24c59affc
- Parent:
- 31:69caabc10879
- Child:
- 34:083073e54dbd
diff -r 37dc4d5bac98 -r baf24c59affc LOCOMOTION.cpp --- a/LOCOMOTION.cpp Wed Apr 20 14:39:38 2016 +0000 +++ b/LOCOMOTION.cpp Wed Apr 20 16:11:08 2016 +0000 @@ -156,7 +156,7 @@ wait(0.5); } } - if (*xCurrState==X_DECREASE) { + else if (*xCurrState==X_DECREASE) { if(angleGood && xGood) { *xCurrState=X_INCREASE; wait(0.5); @@ -167,16 +167,16 @@ switch(*xCurrState) { case X_INCREASE: - *angleGoal=180; - _m1dir=1; - _m2dir=1; + *angleGoal=0; + _m1dir=0; + _m2dir=0; *xTarget=X_FAR_GOAL; break; case X_DECREASE: - *angleGoal=180; - _m1dir=0; - _m2dir=0; + *angleGoal=0; + _m1dir=1; + _m2dir=1; *xTarget=X_NEAR_GOAL; break;