Helvijs Kiselis
/
Micromouse
Algorithmus
Diff: Motion.cpp
- Revision:
- 34:0587c0943263
- Parent:
- 33:836ab2089565
- Child:
- 35:5a4e1a87b3da
--- a/Motion.cpp Wed May 23 12:30:39 2018 +0000 +++ b/Motion.cpp Thu May 24 14:11:21 2018 +0000 @@ -412,9 +412,6 @@ countsL = counterLeft.read(); countsR = counterRight.read(); - //controller.setDesiredSpeedLeft(-ROTATE_SPEED); - //controller.setDesiredSpeedRight(-ROTATE_SPEED); - t.start(); while ((countsL - countsLOld) > -900 || (countsR - countsROld) > -900) { @@ -460,21 +457,6 @@ distanceL = irSensorL.readL(); distanceR = irSensorR.readR(); - - /*if (distanceL < wallLeft-1.0f && distanceR < wallRight-1.0f) { - - errorP = distanceL - distanceR - 3.0f; - - }else if (distanceL < LEFT_MID_VAL && distanceR > RIGHT_MID_VAL) { - - errorP = distanceL - LEFT_MID_VAL; - - }else if (distanceL > LEFT_MID_VAL && distanceR < RIGHT_MID_VAL) { - - errorP = RIGHT_MID_VAL - distanceR; - - }*/ - if (distanceL < wallLeft && distanceR > wallRight) { errorP = distanceL - wallLeft; @@ -503,9 +485,7 @@ if (abs(errorP) < 80.0f) { totalError = KP*errorP + KD*errorD; - }/*else{ - totalError = 0; - }*/ + } controller.setDesiredSpeedLeft(actSpeed - totalError); controller.setDesiredSpeedRight(-actSpeed - totalError);