drive down
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of TEAM_G_FLOW_RIDA by
Diff: main.cpp
- Revision:
- 33:baf24c59affc
- Parent:
- 31:69caabc10879
- Child:
- 34:083073e54dbd
--- a/main.cpp Wed Apr 20 14:39:38 2016 +0000 +++ b/main.cpp Wed Apr 20 16:11:08 2016 +0000 @@ -36,9 +36,9 @@ bool xGood=false; bool yGood=false; bool angleGood=false; -int xState=X_BEGINING; -int angleTarget=180; -int yTarget=ROB_SIZE/2; +int xState=X_INCREASE; +int angleTarget=0; +int yTarget=+10+ROB_SIZE/2; int pressure; //bool flag=false; @@ -88,14 +88,16 @@ wait(0.5); suction.pulsewidth_us(1200); wait(0.5); + suction.pulsewidth_us(1250); + wait(0.5); while(1) { - suction.pulsewidth_us(1250); + suction.pulsewidth_us(1300); /*pressure=(int)read[0];//(int)pres.getTemperature(); if(pressure==88) led1=1; else led1=0;*/ - /*uncomment this part if you want the robot to just drive down the window with no separtor + //uncomment this part if you want the robot to just drive down the window with no separtor if (xState==0) { motion.mStop(); safe.kick(); @@ -111,7 +113,8 @@ motion.setXPos(xTarget,xya.x,2,angleTarget); motion.setYBias(yTarget,xya.y,2,angleTarget); - }*/ + } + //loc.get_xy(&xya); #if defined(PC_MODE) pc.printf("X: %3d\tY: %3d\tP: %3d\txGood: %d\tAngleGood: %d\tState: %d \n",xya.y,yTarget,xya.a,xGood,angleGood,xState); #endif @@ -123,7 +126,7 @@ void send() { //Print over serial port to WiFi MCU - pc.printf("%c%c%c%c\n",(char)xya.x,(char)xya.y,pressure/10,pressure%10); + pc.printf("%c%c%c%c\n",(char)xya.x,(char)xGood,xya.a/10,xya.a%10); } void BrownOut() @@ -131,7 +134,7 @@ //Stop Motors and Driver motion.eStop(); //Ensure suction on - suction.pulsewidth_us(2000); + suction.pulsewidth_us(1250); //Light Up Error Light Pattern led1=1; led2=0;