Changeset 3716c66 in robotics for car/firmware

Timestamp:

06/17/14 20:38:36 (8 years ago)

Author:

Steve Castellotti <sc@…>

Branches:

master

Parents:

4c79bbb

Message:

• final code for Discovery shoot

File:

• car/firmware/car/car.ino (modified) (4 diffs)

car/firmware/car/car.ino

@@ -36 +36 @@
 #define SERVO_PIN_TURN 9
 
-#define POSITION_BRAKE_STOP 60
+#define POSITION_BRAKE_STOP 45
 #define POSITION_BRAKE_GO 150
 
@@ -46 +46 @@
 #define POSITION_TURN_GO 170
 
-#define TIME_DRIVE_FORWARD 10000 // Drive forward for two seconds per detection
-#define TIME_TURN 3000 // Turn wheel for one second per detection
+#define TIME_DRIVE_FORWARD 4000 // Drive forward for two seconds per detection
+#define TIME_TURN 4000 // Turn wheel for one second per detection
 #define TIME_TURN_DRIVE 4000 // Drive forward to two seconds while turning
 
@@ -239 +239 @@
   servoBrake.write(POSITION_BRAKE_STOP);
   
+
+//  // Turn wheel
+//  servoTurn.write(POSITION_TURN_GO);
+//  
+//  // Release brake
+//  servoBrake.write(POSITION_BRAKE_GO);
+//  
+//  delay(TIME_TURN_DRIVE - TIME_TURN);
+//  servoTurn.write(POSITION_TURN_STOP);
+//  
+//  
+//  // Drive while turning
+//  delay(TIME_TURN_DRIVE - (TIME_TURN_DRIVE - TIME_TURN));
+//  
+//  // Apply brake
+//  servoBrake.write(POSITION_BRAKE_STOP);
+
+  
+  
   // Reset wheel
 //  servoDirection.write(POSITION_DIRECTION_RIGHT);
@@ -274 +293 @@
   // Apply brake
   servoBrake.write(POSITION_BRAKE_STOP);
-  
+
+
+//  // Turn wheel
+//  servoTurn.write(POSITION_TURN_GO);
+//  
+//  // Release brake
+//  servoBrake.write(POSITION_BRAKE_GO);
+//  
+//  delay(TIME_TURN_DRIVE - TIME_TURN);
+//  servoTurn.write(POSITION_TURN_STOP);
+//  
+//  
+//  // Drive while turning
+//  delay(TIME_TURN_DRIVE - (TIME_TURN_DRIVE - TIME_TURN));
+
+
+
   // Reset wheel
 //  servoDirection.write(POSITION_DIRECTION_LEFT);