Edwin Cho / Mbed 2 deprecated FLOW_DERP

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Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of STRAIGHT_DRIVE_NO_SEP by Antoine Laurens

Files at this revision

API Documentation at this revision

Revision 40:9a97c4403c0a, committed 2016-05-03

Comitter:
12104404
Date:
Tue May 03 19:17:04 2016 +0000
Parent:
38:16208e003dc9
Commit message:
WORKING;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Apr 27 04:24:11 2016 +0000
+++ b/main.cpp	Tue May 03 19:17:04 2016 +0000
@@ -93,7 +93,7 @@
     while(1) {
         suction.pulsewidth_us(1285);
         //uncomment this part if you want the robot to just drive down the window with no separtor
-        if (xya.y>FRAME_H*0.65) {
+        if (xya.y>FRAME_H*0.82) {
             while(1)
             {
                 suction.pulsewidth_us(1285);
@@ -103,13 +103,13 @@
             //continue;
         }
         loc.get_xy(&xya);
-        xGood=motion.setXPos(xTarget,xya.x,2,0);
+        /*xGood=motion.setXPos(xTarget,xya.x,2,0);
         if(!xGood)
             motion.setAngle(angleTarget,xya.a,angle_error,ANGLE_BIAS);
         else {
             xTarget=(xTarget==FRAME_W)?0:FRAME_W;
             angleTarget=(angleTarget==5)?-5:5;
-        }
+        }*/
             //motion.setYBias(0,xya.y,2,angleTarget);
             //loc.get_xy(&xya);5
 #if defined(PC_MODE)