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: robot.cpp

Revision:
11:967469d7e01c
Parent:
10:926f142f16a3
Child:
12:925f52da3ba9
--- a/robot.cpp	Wed Feb 12 05:38:52 2014 +0000
+++ b/robot.cpp	Wed Feb 12 06:00:07 2014 +0000
@@ -8,10 +8,14 @@
 robot::robot() : spi(PTD2, PTD3, PTD1), bigenc(spi,PTD0), gyro(PTE0, PTE1),
             right(bigenc,0,1,PTA5), left(bigenc,2,3,PTA4), motors(spi,PTD0) {
     
-    bigenc.setDirections(1,-1,1,1);
+    //bigenc.setDirections(1,-1,1,1);
     left.setReversed(1);
     x=y=rot=0;
     
+    //set our set point in memory to match the current set point of the encoders
+    const int *referenceCounts = bigenc.getReferences();
+    motors.setSetPoint(referenceCounts[0],referenceCounts[1]);
+    
     //control system constants
     pfac=0.00035;
     ifac=0.00000001;
@@ -23,6 +27,11 @@
 //driveforward, but set up so that 
 int robot::absDriveForward(double desangle, int distance){
     Timer tim;
+    int dir=1;
+    if(distance < 0){
+        dir = -1;
+        distance = -distance;
+    }
     int i,move;
     int maxSpeed=41;
     int stepsPerInc=3;
@@ -59,8 +68,8 @@
             move--;
         }
         totalMove+=move;
-        motors.moveForward(move);
-        DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
+        motors.moveForward(move*dir);
+        //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
         while(tim.read_ms()<10);
     }
     return totalMove;