From eb95d8f675f55cb5c6ff678b2ac5074457e1f912 Mon Sep 17 00:00:00 2001 From: Peter de Kok Date: Wed, 17 Jun 2015 15:55:49 +0200 Subject: counterTurret & turretSequence error partially fixed --- Venus_Skeleton/Venus_Skeleton.ino | 7 ++++--- 1 file 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); -- cgit v1.2.1