Immanuel Rechar / Bertl

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Dependencies:   HCSR

Fork of Bertl by Franz Pucher

Files at this revision

API Documentation at this revision

Revision 18:1598fdb97db1, committed 2015-12-21

Comitter:
Rechar
Date:
Mon Dec 21 14:29:45 2015 +0000
Parent:
17:308802267a62
Commit message:
T

Changed in this revision

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 
diff -r 308802267a62 -r 1598fdb97db1 const.h
--- a/const.h	Thu Nov 12 19:05:56 2015 +0000
+++ b/const.h	Mon Dec 21 14:29:45 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=310;     /**< 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
@@ -21,7 +21,8 @@
 /*! \var int SPEED
 \brief Bertl speed 0.2 (slow) - 1.0 (fast).
 \warning speed below 0.2 possible the motor won't start */
-const float SPEED = 0.4;    /*  Bertl speed 0.2 (slow) - 1.0 (fast) */
+const float SPEED = 0.3;    /*  Bertl speed 0.2 (slow) - 1.0 (fast) */
+const float OFFSET = 0.6;
 /*! \var int DISTANCE
 \brief one wheel turn is appr. 24 ticks.
 \warning maybe the number has to be adjusted */

diff -r 308802267a62 -r 1598fdb97db1 ur_Bertl.cpp
--- a/ur_Bertl.cpp	Thu Nov 12 19:05:56 2015 +0000
+++ b/ur_Bertl.cpp	Mon Dec 21 14:29:45 2015 +0000
@@ -39,7 +39,8 @@
     char init2[2] = {0x7, 0xff};
     i2c.write(0x40, init1, 2);
     i2c.write(0x40, init2, 2);
-    mg1 = mg2 = SPEED;
+    mg1 = SPEED;
+    mg2 = SPEED * OFFSET;
     _interrupt.rise(this, &ur_Bertl::increment);    // attach increment function of this counter instance ie. motor sensor
     _count = 0;
     beepersInBag = 0;