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-rw-r--r--Venus_Skeleton/Venus_Skeleton.ino7
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);