![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
added
Dependencies: BNO055_fusion PowerControl mbed
Fork of TEAM_G_FLOW_RIDA by
Diff: main.cpp
- Revision:
- 12:3b26fcc7da7e
- Parent:
- 11:9518f8285906
- Child:
- 13:c62f975dfcfe
--- a/main.cpp Wed Mar 23 16:22:53 2016 +0000 +++ b/main.cpp Wed Mar 23 16:25:48 2016 +0000 @@ -66,7 +66,7 @@ //loc.get_angle(&xya); loc.get_xy(&xya); //pc.printf("X: %3d\tY: %3d\tP: %3d\n",xya.x,xya.y,xya.a); - setAngle(20); + setAngle(170); wdt.kick(); } } @@ -84,7 +84,7 @@ if(abs(wrap(xya.a+diff)-180)<=5) s=SPEED_TURN_MIN; else - s=(SPEED_TURN_MAX*abs(wrap(xya.a+diff)-180)/180)+SPEED_TURN_MIN; + s=((SPEED_TURN_MAX-SPEED_TURN_MIN)*abs(wrap(xya.a+diff)-180)/180)+SPEED_TURN_MIN; motor1F=s; motor1B=s; motor2F=s;