Dominik Kerschat / Bertl

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Dependencies:   HCSR

Fork of Bertl by Franz Pucher

Files at this revision

API Documentation at this revision

Revision 18:252dc1cafefd, committed 2015-12-21

Comitter:
Domkilp
Date:
Mon Dec 21 14:28:47 2015 +0000
Parent:
17:308802267a62
Commit message:
changed some things

Changed in this revision

config.h Show annotated file Show diff for this revision Revisions of this file
const.h Show annotated file Show diff for this revision Revisions of this file
ur_Bertl.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/config.h	Thu Nov 12 19:05:56 2015 +0000
+++ b/config.h	Mon Dec 21 14:28:47 2015 +0000
@@ -35,12 +35,12 @@
 //------------------ CHANGE ONLY IF NESSESARY -------------------------------------
 
 DigitalOut MotorL_EN(p34);          // wiring motor left
-DigitalOut MotorL_FORWARD(P1_1);    // change to P1_0 for Bertl 2015
-DigitalOut MotorL_REVERSE(P1_0);    // change to P1_1 for Bertl 2015
+DigitalOut MotorL_FORWARD(P1_0);    // change to P1_0 for Bertl 2015
+DigitalOut MotorL_REVERSE(P1_1);    // change to P1_1 for Bertl 2015
 
 DigitalOut MotorR_EN(p36);          // wiring motor right
-DigitalOut MotorR_FORWARD(P1_3);    // change to P1_4 for Bertl 2015
-DigitalOut MotorR_REVERSE(P1_4);    // change to P1_3 for Bertl 2015
+DigitalOut MotorR_FORWARD(P1_4);    // change to P1_4 for Bertl 2015
+DigitalOut MotorR_REVERSE(P1_3);    // change to P1_3 for Bertl 2015
 
 I2C i2c(p28,p27);   
 BusIn linesensor(p18, p16, p19, p17);  

--- a/const.h	Thu Nov 12 19:05:56 2015 +0000
+++ b/const.h	Mon Dec 21 14:28:47 2015 +0000
@@ -11,7 +11,7 @@
 #define CONST_H
 #define TIME  /**< if defined Bertl uses the time and not motor encoder*/
 const int MOVE=500;     /**< ms move forward or backward */
-const int TURN=500;     /**< ms TurnLeft or TurnRigth (nearly 90 degree) */
+const int TURN=250;     /**< ms TurnLeft or TurnRigth (nearly 90 degree) */
 const int STEPTIME=20;  /**< ms turn left or right for adjusting moves for TurnLeft or TurnRigth */
 
 /*! \var int ULTRASONIC_DISTANCE
@@ -29,7 +29,7 @@
 /*! \var int ANGLE
 \brief 12 is nearly 90 degree turn left.
 \warning maybe the number has to be adjusted */
-const int ANGLE = 12;      /*  nearly 90 degree turn left */
+const int ANGLE = 10;      /*  nearly 90 degree turn left */
 
 const int BTN_FLL = 0x80;   /**<   button front left outer */
 const int BTN_FL  = 0x04;   /**< button front left */

--- a/ur_Bertl.cpp	Thu Nov 12 19:05:56 2015 +0000
+++ b/ur_Bertl.cpp	Mon Dec 21 14:28:47 2015 +0000
@@ -1,3 +1,4 @@
+
 /***********************************
 name:   ur_Bertl.cpp    Version: 3.0
         class Bertl included