2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: Processes/AI/ai.cpp
- Revision:
- 85:b0858346d838
- Parent:
- 84:00c799fd10a7
- Child:
- 86:769e33a3f0ff
--- a/Processes/AI/ai.cpp Tue Apr 16 10:05:58 2013 +0000 +++ b/Processes/AI/ai.cpp Tue Apr 16 10:43:15 2013 +0000 @@ -64,12 +64,13 @@ MotorControl::motorsenabled = false; arm::upper_arm.go_up(); - arm::lower_arm.go_up(); + arm::lower_arm.go_down(); Thread::signal_wait(0x2); //wait for cord // CORD PULLED MotorControl::motorsenabled = true; + arm::lower_arm.go_up(); #ifdef TEAM_BLUE Waypoint mid_wp = {1.8, 1, (1.0/4.0)*PI, 0.03, 0.05*PI, 32}; @@ -87,7 +88,7 @@ Waypoint mutable_cake_wp = {0, 0, 0, 0.01, 0.01*PI, 512}; - float r = 0.26+0.35+0.01+0.01; //second 0.01 for being less collisiony with sensors + float r = 0.26+0.35-0.01; //second 0.01 for being less collisiony with sensors layer layer_to_push = top_layer; @@ -132,7 +133,7 @@ if ((colour_read==own_colour) && MotorControl::motorsenabled) { arm::upper_arm.go_down(); - top_arm_up_timer.start(1200); + top_arm_up_timer.start(1100); } } else @@ -141,10 +142,10 @@ if ((colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/) && MotorControl::motorsenabled) { arm::lower_arm.go_down(); - bottom_arm_up_timer.start(1200); + bottom_arm_up_timer.start(1100); } } - Thread::wait(2200); + Thread::wait(2000); } ////////////////////