Changed Up libary
Fork of Bertl by
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
--- 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