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:
32:ff71f61bb9f6
Parent:
29:1132155bc7da
Child:
34:4ad11cda1eca
diff -r 4ef53fbd6759 -r ff71f61bb9f6 robot.cpp
--- a/robot.cpp	Sat Mar 22 00:38:12 2014 +0000
+++ b/robot.cpp	Sat Mar 22 20:17:29 2014 +0000
@@ -15,7 +15,7 @@
     
     //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]);
+    motors.setSetPoint(referenceCounts[1],referenceCounts[0]);
     
     //storage for shape positions
     circleX=circleY=rectX=rectY=rectRot=triX=triY=triRot=0;
@@ -98,6 +98,8 @@
         //DBGPRINT("%d: %d\t%d\r\n",i,move,totalMove);
         while(tim.read_ms()<5);
         gyro.gyroUpkeep();
+        
+        //compass calibration code, shouldn't be needed
         if(distance==16000 && maxSpeed == 6){
             if(gyro.xmag>xMaxVal)
                 xMaxVal=gyro.xmag;
@@ -120,6 +122,8 @@
         while(tim.read_ms()<10);
     }
     gyro.start();
+    
+    //compass calibration code, should never run
     if(distance==16000 && maxSpeed == 6){
         double xAvg = 75.0*(double)xSumVal/(startFall+stepsToMax);
         double zAvg = 75.0*(double)zSumVal/(startFall+stepsToMax);