Alexander Lüthard
/
Micromouse
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Fork of
Micromouse
by 
Helvijs Kiselis
Diff: Motion.cpp
- Revision:
- 11:2960fc540616
- Parent:
- 7:22392ed60534
- Child:
- 12:75d0291a9785
--- a/Motion.cpp Sat Apr 28 12:29:20 2018 +0000
+++ b/Motion.cpp Mon Apr 30 18:27:23 2018 +0000
@@ -9,7 +9,7 @@
const float Motion::KP = 2.5;
const float Motion::KD = 0.0f;
const int Motion::MOVE_DIST = 1605;
-const float Motion::MOVE_SPEED = 50.0f;
+const float Motion::MOVE_SPEED = 60.0f;
Motion::Motion(Controller& controller, EncoderCounter& counterLeft,
@@ -33,8 +33,8 @@
countsL = counterLeft.read();
countsR = counterRight.read();
- speedLeft = 50.0f;
- speedRight = -50.0f;
+ speedLeft = MOVE_SPEED;
+ speedRight = -MOVE_SPEED;
controller.setDesiredSpeedLeft(MOVE_SPEED);
controller.setDesiredSpeedRight(-MOVE_SPEED);
@@ -107,8 +107,8 @@
countsL = counterLeft.read();
countsR = counterRight.read();
- speedLeft = 50.0f;
- speedRight = -50.0f;
+ speedLeft = MOVE_SPEED;
+ speedRight = -MOVE_SPEED;
controller.setDesiredSpeedLeft(MOVE_SPEED);
controller.setDesiredSpeedRight(-MOVE_SPEED);
@@ -351,3 +351,15 @@
return line;
}
+
+/*
+ if ( controller.getSpeedLeft() < MOVE_SPEED ) {
+
+ speed = counterLeft.read()/2;
+ }
+
+ if ( MOVE_DIST - counterLeft.read() < MOVE_SPEED*2 ) {
+
+ speed = -(MOVE_DIST - MOVE_SPEED*2) + MOVE_SPEED;
+ }
+*/