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

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);