diff options
| author | Peter de Kok <p.j.s.d.kok@gmail.com> | 2015-06-17 14:54:26 +0200 |
|---|---|---|
| committer | Peter de Kok <p.j.s.d.kok@gmail.com> | 2015-06-17 14:54:26 +0200 |
| commit | c07de296a112ea7e2b0361c4f15ab5cf5370c3cf (patch) | |
| tree | 5fc41c4a7a9be5ac4b5616991a455bc3cffe55bd | |
| parent | b462e0e9671ff7305945b2ed4f93f5f5b8cc9b96 (diff) | |
| download | code-c07de296a112ea7e2b0361c4f15ab5cf5370c3cf.tar.gz | |
comments, debugprints added
| -rw-r--r-- | Venus_Skeleton/Venus_Skeleton.ino | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino index 7b414e8..14e1ae8 100644 --- a/Venus_Skeleton/Venus_Skeleton.ino +++ b/Venus_Skeleton/Venus_Skeleton.ino @@ -457,8 +457,10 @@ int directionToDegree(int direction) { } /** - * Rotates the robot and calculates its current orientation. If the desired - * rotation has already been completed, nothing happens. + * Rotates the robot to a given direction relative to robot. If the desired + * rotation is 0, nothing happens. + * If the robot is still making it's turn, calculate it's current orientation. + * If the timer is finished, stop movement and reset all ultrasound values. * * @returns true when the rotation is completed. */ @@ -476,7 +478,7 @@ bool moveTurnTo(int degree) { // if movementtimer is expired, stop movement. if (!timerMovementStop) { - DEBUG_PRINT(" Start turn move: "); + DEBUG_PRINT("\n Start turn move: "); DEBUG_PRINT(degree); DEBUG_PRINT("deg - "); counterMovement++; @@ -508,6 +510,7 @@ bool moveTurnTo(int degree) { } if (timerMovementStop < millis()) { + DEBUG_PRINT("\n Stop turn move") stopMovement(); for (int k = 0; k < NUM_TURRET_DIRECTIONS; k++) { data.obstacle_turret_distances[k] = OBSTACLE_FAR_AWAY; @@ -760,12 +763,12 @@ void confirmSample(int turretVal) { currValDirectionDegree += (x == 0 ? 0 : 10); currValDirectionDegree *= sign; - DEBUG_PRINT("\n currvaldeg = "); + DEBUG_PRINT("\n currvaldegi = "); DEBUG_PRINT(currValDirectionDegree); counterSampleConfirm++; } else { - DEBUG_PRINT("\n currvaldeg = "); + DEBUG_PRINT("\n currvaldege = "); DEBUG_PRINT(currValDirectionDegree); // Check if a sample was seen by the gripperSampleDetector and the movement to drive the grippers over it are done if (!counterMovement && counterSampleConfirm == 2) { |