diff options
| -rw-r--r-- | Venus_Skeleton/Venus_Skeleton.ino | 2 | ||||
| -rw-r--r-- | Venus_Skeleton/calibration_wall-e.h | 4 |
2 files changed, 4 insertions, 2 deletions
diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino index 9a8ba78..7718d8a 100644 --- a/Venus_Skeleton/Venus_Skeleton.ino +++ b/Venus_Skeleton/Venus_Skeleton.ino @@ -803,6 +803,7 @@ void confirmSample(int turretVal) { // Check if a sample is seen by the gripperSampleDetector if (data.sample_gripper_detected && (counterSampleConfirm == 1 || counterSampleConfirm == 3)) { stopMovement(); + DEBUG_PRINT("sample detected"); currValDirectionDegree = 0; counterSampleConfirm = 2; } @@ -829,6 +830,7 @@ void initialSequence() { do { moveStraight(0, CAL_INITIAL_DISTANCE2); } while(timerMovementStop); + opMode(OPMODE_WAIT); } void calculateOrientation() { diff --git a/Venus_Skeleton/calibration_wall-e.h b/Venus_Skeleton/calibration_wall-e.h index c859a84..e1a2a7a 100644 --- a/Venus_Skeleton/calibration_wall-e.h +++ b/Venus_Skeleton/calibration_wall-e.h @@ -10,9 +10,9 @@ #define CAL_SAMPLE_TURRET_THRESHOLD 1 // Distance to drive during initial sequence. (to (x, y) (0, 0)) -#define CAL_INITIAL_DISTANCE1 60.0 +#define CAL_INITIAL_DISTANCE1 30.0 // Distance to drive during initial sequence (to starting position - one robot further then the other, to prevent collissions) -#define CAL_INITIAL_DISTANCE2 20.0 +#define CAL_INITIAL_DISTANCE2 1.0 #define CAL_TURRET_DEGREE 10 |