Clark Lin
/
1407102
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Fork of
7_7Boboobooo
by 
譯文 張
Revision 14:8b17b298b4dd, committed 2014-07-10
- Comitter:
- physicsgood
- Date:
- Thu Jul 10 14:52:32 2014 +0000
- Parent:
- 13:e276703d5a5d
- Child:
- 15:7f21c08be164
- Commit message:
- AVG
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Jul 10 14:13:15 2014 +0000
+++ b/main.cpp Thu Jul 10 14:52:32 2014 +0000
@@ -25,9 +25,11 @@
int black_centerR, black_centerL, center, times = 0;
int flag = 0, sp = 64;
int t = 0;
- double last = 0.0,avgg = middle;
+ double last = 0.0;
+ double avgg = middle,last_avgg = middle, next_avgg = middle;
+ double v = 0.4;
- char psudo_line[128];
+ //char psudo_line[128];
#ifdef Debug_cam_uart
pc.baud(115200);
@@ -160,20 +162,22 @@
avg = last_turn / times;
if(avg < 0.042 && avg > 0.034){
- MotorA.rotate(0.3);
- MotorB.rotate(0.3);
+ v = 0.4;
}
else{
- MotorA.rotate(0.18);
- MotorB.rotate(0.18);
+ v = 0.18;
}
-
- servo.set_angle(avg);
+ MotorA.rotate(v);
+ MotorB.rotate(v);
+ servo.set_angle((avg*7 + next_avgg)/8);
+ //servo.set_angle(avg);
times = last_turn = 0;
}
- if(t == 600){
+ if(t == 500){
+ last_avgg = avgg;
avgg = last / t;
+ next_avgg = 2*avgg -last_avgg;
t = 0;
last = 0.0;
}