Diff: beacon.cpp

Revision:

10:1b09d4bb847b

Parent:

9:085e090e1ec1

Child:

11:7b3ee540ba56

--- a/beacon.cpp	Mon Oct 26 11:16:05 2015 +0000
+++ b/beacon.cpp	Mon Oct 26 23:58:08 2015 +0000
@@ -5,7 +5,6 @@
 
 // Beacon.cpp - Functions for detecting the beacon and taking IR readings of the robots
 
-#include "psiswarm.h"
 #include "main.h"
 
 int pulse_step = 1;                     //Pulse-step corresponds to which timeslot (0-9) is currently active, where beacon=0 and robots=2-8
@@ -17,7 +16,7 @@
 Timeout ir_emitter_timeout;             // Timeout for turning off the IR emitters after 40ms
 Timer beacon_debug_timer;               // Timer for debug information only [remove later?]
 
-
+char show_ir_debug_info = 0;            // Set to 1 to display (via PC) the list of IR readings & visible robots every timestep
 
 /// The locate beacon function samples the IR radiation from all 8 side sensors over a period of 1 second in [BEACON_PERIOD / 2.5] (20ms) blocks.
 /// The infrared beacon is set to give a 50ms burst of IR every 500ms.  We should thus see in the sampled radiation 2 blocks
@@ -264,7 +263,7 @@
 //It then starts a timeout to run emitter_timeout_block after 40ms, which turns off the emitters
 void emitter_ticker_block(){
     //If the time-step (-1) equals my ID, turn on my emitters for 40ms
-    if(pulse_step-1 == robot_id){
+    if(pulse_step-1 == robot_id && disable_ir_emitters == 0){
         IF_set_IR_emitter_output(0, 1);
         IF_set_IR_emitter_output(1, 1);
         ir_emitter_timeout.attach_us(emitter_timeout_block,(BEACON_PERIOD * 8)/10);
@@ -321,7 +320,7 @@
             }  
          }
       }
-      display_ir_readings();
+      if(show_ir_debug_info == 1)display_ir_readings();
     }
     //Increment pulse step
     pulse_step++;
@@ -361,6 +360,8 @@
         int current_bearing = 360 - beacon_heading;
         //Now work out turn needed to face intended heading
         int target_turn = (bearing - current_bearing) % 360;
+        //Adjust to take 10% off turn, stops overshoot
+        target_turn = (target_turn * 9) / 10;
         if(target_turn > 180) target_turn -= 360;
         if(target_turn < -180) target_turn += 360;
         //We can't reliably turn more than 280 degrees per second, so set a limit for the turn to that