Helvijs Kiselis
/
Micromouse
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Revision 33:836ab2089565, committed 2018-05-23
- Comitter:
- Helvis
- Date:
- Wed May 23 12:30:39 2018 +0000
- Parent:
- 32:e984b7959cb0
- Child:
- 34:0587c0943263
- Commit message:
- Challenge Day
Changed in this revision
| Motion.cpp | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Motion.cpp Wed May 23 01:34:36 2018 +0000
+++ b/Motion.cpp Wed May 23 12:30:39 2018 +0000
@@ -153,6 +153,10 @@
if (distanceC < 100.0f && lastMove == false) {
break;
+ }else if ( ((countsL - countsLOld) >= 824 || (countsR - countsROld) <= -824) && (distanceC >= 100.0f) && (distanceC < 120.0f) ) {
+ countsLOld += 100;
+ countsROld -= 100;
+
//Stop after certain distance if side wall missing
}else if ( (distanceL > 80.0f || distanceR > 80.0f) && lastMove == false && deceleration == true && distanceC < 190.0f) {
@@ -162,7 +166,7 @@
countsL = counterLeft.read();
countsR = counterRight.read();
- while ((countsL - countsLOld) < 300.0f || (countsR - countsROld) > -300.0f) {
+ while ((countsL - countsLOld) < 250.0f || (countsR - countsROld) > -250.0f) {
countsL = counterLeft.read();
countsR = counterRight.read();
accel(RUN_SPEED);
@@ -524,7 +528,7 @@
longMove = true;
deceleration = false;
- }else if (reverse == false && path[task+1] == path[task] && ( path[task-1] != path[task] || task == 0) ) { //same as above, also if start field
+ }else if (reverse == false && path[task+1] == path[task] && ( path[task-1] != path[task] || task == 0 || path[task-1] != 4) ) { //same as above, also if start field
acceleration = true;
longMove = true;
--- a/main.cpp Wed May 23 01:34:36 2018 +0000
+++ b/main.cpp Wed May 23 12:30:39 2018 +0000
@@ -159,6 +159,8 @@
motion.scanMove();
}else if (route[r] == RIGHT) {
+
+ int lastJunc = route[junction[j]];
// Kreuzung führt zu Sackgassen -> löschen
junction[j] = 0;
printf("Kreuzung %d Schritt %d geloscht\n", j, r);
@@ -206,7 +208,7 @@
looping = true;
- }else if (junction[j] == r-2 && route[r] == MOVE && route[junction[j]] != MOVE) {
+ }else if (junction[j] == r-2 && route[r] == MOVE && route[junction[j]] != MOVE && lastJunc == MOVE) {
route[r] = 0;
r--;
@@ -257,6 +259,8 @@
}else if (route[r] == MOVE) {
+ int lastJunc = route[junction[j]];
+
junction[j] = 0;
if (debuging == 1) printf("Kreuzung %d Schritt %d geloscht\n", j, r);
j -= 1;
@@ -302,7 +306,7 @@
looping = true;
- }else if (junction[j] == r-2 && route[r] == MOVE && route[junction[j]] != MOVE) {
+ }else if (junction[j] == r-2 && route[r] == MOVE && route[junction[j]] != MOVE && lastJunc == MOVE) {
route[r] = 0;
r--;
