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| author | Peter de Kok <p.j.s.d.kok@gmail.com> | 2015-06-17 15:55:49 +0200 |
|---|---|---|
| committer | Peter de Kok <p.j.s.d.kok@gmail.com> | 2015-06-17 15:55:49 +0200 |
| commit | eb95d8f675f55cb5c6ff678b2ac5074457e1f912 (patch) | |
| tree | 287db54779f14e639f81c97e10af0b7e430249c4 | |
| parent | 3bebd54178be8e896200eafe49933c9c0914517e (diff) | |
| download | code-eb95d8f675f55cb5c6ff678b2ac5074457e1f912.tar.gz | |
counterTurret & turretSequence error partially fixed
| -rw-r--r-- | Venus_Skeleton/Venus_Skeleton.ino | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino index f061f0c..f188795 100644 --- a/Venus_Skeleton/Venus_Skeleton.ino +++ b/Venus_Skeleton/Venus_Skeleton.ino @@ -524,7 +524,7 @@ bool moveTurnTo(int degree) { } if (timerMovementStop < millis()) { - DEBUG_PRINT("\n Stop turn move") + DEBUG_PRINT("\n Stop turn move"); stopMovement(); // reset the ultrasound measurements @@ -636,8 +636,8 @@ void checkFreePath() { // Only check for obstacles for turret measurements in the middle, that is, // ignore measurements from the far left and right positions. if (// (dataToPiChangedBits & CHANGED_SENS_OBSTACLETURRET) && - (counterTurret >= (NUM_TURRET_DIRECTIONS / 6)) && - (counterTurret < (NUM_TURRET_DIRECTIONS - (NUM_TURRET_DIRECTIONS / 6))) && + (turretSequence[counterTurret] >= (NUM_TURRET_DIRECTIONS / 6)) && + (turretSequence[counterTurret] < (NUM_TURRET_DIRECTIONS - (NUM_TURRET_DIRECTIONS / 6))) && (data.obstacle_turret_distances[counterTurret] < OBSTACLE_TOO_CLOSE)) { // Ultrasound sensor sees inaccessible terrain opMode(OPMODE_WAIT); @@ -955,6 +955,7 @@ void loop() { confirmSample(counterTurret); turnTurretToNext(); if (moveTurnTo(currValDirectionDegree)) { + DEBUG_PRINT("\nMoveTurnToComplete"); currValDirectionDegree = 0; } moveStraight(currValDirectionDegree, 15.0); |