Navigate to a given point using the OGM and virtual forces
Dependencies: ISR_Mini-explorer mbed
Fork of VirtualForces by
Diff: main.cpp
- Revision:
- 41:39157b310975
- Parent:
- 40:f5e212d9f900
- Child:
- 42:ab25bffdc32b
--- a/main.cpp Thu May 18 18:48:47 2017 +0000 +++ b/main.cpp Mon May 22 11:44:38 2017 +0000 @@ -724,7 +724,7 @@ angular_right=(linear+0.5*DISTANCE_WHEELS*angular)/RADIUS_WHEELS; //Normalize speed for motors - if(angular_left>angular_right) {fill_initial_log_values(); + if(angular_left>angular_right) { angular_right=speed*angular_right/angular_left; angular_left=speed; }