Diff: Processes/Motion/motion.cpp

Revision:

69:4b7bb92916da

Parent:

67:be3ea5450cc7

Child:

70:0da6ca845762

--- a/Processes/Motion/motion.cpp	Sun Apr 14 18:47:17 2013 +0000
+++ b/Processes/Motion/motion.cpp	Sun Apr 14 20:23:07 2013 +0000
@@ -1,8 +1,7 @@
 ////////////////////////////////////////////////////////////////////////////////
 // Motion control unit
 ////////////////////////////////////////////////////////////////////////////////
-// Takes current state of the robot and target waypoint,
-// calculates desired forward and angular velocities and requests those from the motor control layer.
+// Takes current state and motion command (set via accessors) and actuates it via motor layer calls
 ////////////////////////////////////////////////////////////////////////////////
 
 #include "motion.h"
@@ -154,12 +153,16 @@
         
     //printf("fwd: %f, omega: %f\r\n", forward_v, angular_v);
     
-    if(collavoiden){
+    //TODO: remove oskar's avoidance hack
+    if(collavoiden)
+    {
         float d = ADS.Distanceincm();
-        if(d > 10){
+        if(d > 10)
+        {
             forward_v *= max(min((d-15)*(1.0f/20.0f),1.0f),-0.1f);
         }
     }
+    // end of Oskar hack
     
     // pass values to the motor control
     MotorControl::set_fwdcmd(forward_v);