From 98f5cc947880fa0f05b76d1d3861f973184b12cb Mon Sep 17 00:00:00 2001
From: Peter de Kok
Date: Wed, 17 Jun 2015 16:09:18 +0200
Subject: fixed last turretSequence and counterTurret error
---
Venus_Skeleton/Venus_Skeleton.ino | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino
index f188795..269bc34 100644
--- a/Venus_Skeleton/Venus_Skeleton.ino
+++ b/Venus_Skeleton/Venus_Skeleton.ino
@@ -197,6 +197,14 @@ void initTurretSequence(int array[], int numOfPositions) {
}
}
+int findInArray(int n, int array[], int length) {
+ for (int g = 0; g < length; g++) {
+ if (array[g] == n) {
+ return g;
+ }
+ }
+ return -1;
+}
// **********************
@@ -726,7 +734,7 @@ int eliminateDirections(int directionArray[]) {
// for all turret directions relative to this robot direction, check obstacle sensor data
for (int k = kinit; k <= (kinit + 2*kinc); k++) {
if (k < 0) k = 0;
- if (data.obstacle_turret_distances[k] > OBSTACLE_TOO_CLOSE) {
+ if (data.obstacle_turret_distances[findInArray(k, turretSequence, NUM_TURRET_DIRECTIONS)] < OBSTACLE_TOO_CLOSE) {
directionArray[i] = 0;
}
}
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