Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

Diff: main.cpp

Revision:
42:28d73a7c624e
Parent:
41:fa498d6e7538
Child:
43:f7ef0f5f980c
--- a/main.cpp	Mon Mar 31 02:29:46 2014 +0000
+++ b/main.cpp	Mon Mar 31 19:44:10 2014 +0000
@@ -45,6 +45,8 @@
     s3.toPosition(45);
     s4.toPosition(45);
     
+    int s1pos = 45;
+    int s2pos = 45;
     
     //timer issue navigation test
     bot.absDriveForward(0,50);//assuming the bot stops in this function
@@ -93,12 +95,12 @@
                 break;
             case 'w': // turn 90 degrees counter clockwise from the starting rotation
                 
-                s.toPosition(0);
+                s.toPosition(-40);
                 //bot.driveForward(90,0);
                 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
                 break;
             case 'x': // turn 90 degrees clockwise from the starting rotation
-                s.toPosition(180);
+                s.toPosition(220);
                 //bot.driveForward(-90,0);
                 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
                 break;
@@ -214,20 +216,20 @@
                 //DBGPRINT("pfac = %f\r\n",bot.pfac);
                 break;
             case 'Y':
-                //bot.ifac*=1.05;
-                //DBGPRINT("ifac = %f\r\n",bot.ifac);
+                s.toPosition(s1pos+=5);
+                DBGPRINT("1 pos = %d\r\n",s1pos);
                 break;
             case 'H':
-                //bot.ifac/=1.05;
-                //DBGPRINT("ifac = %f\r\n",bot.ifac);
+                s.toPosition(s1pos-=5);
+                DBGPRINT("1 pos = %d\r\n",s1pos);
                 break;
             case 'U':
-                //bot.dfac*=1.05;
-                //DBGPRINT("dfac = %f\r\n",bot.dfac);
+                s2.toPosition(s2pos+=5);
+                DBGPRINT("2 pos = %d\r\n",s2pos);
                 break;
             case 'J':
-                //bot.dfac/=1.05;
-                //DBGPRINT("dfac = %f\r\n",bot.dfac);
+                s2.toPosition(s2pos-=5);
+                DBGPRINT("2 pos = %d\r\n",s2pos);
                 break;
                 
                 // poll the compass ( currently gives bad values )