From f904c611c9382efee8c76c0400b44030e126f583 Mon Sep 17 00:00:00 2001 From: Peter de Kok Date: Wed, 17 Jun 2015 16:15:09 +0200 Subject: fixed counterTurret error (false fix reverted) --- Venus_Skeleton/Venus_Skeleton.ino | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Venus_Skeleton/Venus_Skeleton.ino b/Venus_Skeleton/Venus_Skeleton.ino index 269bc34..7174c1a 100644 --- a/Venus_Skeleton/Venus_Skeleton.ino +++ b/Venus_Skeleton/Venus_Skeleton.ino @@ -773,7 +773,9 @@ void checkSample() { // If sample is straight ahead, position the turret to the front such // that the IR sensor can get a confirmation. if (data.sample_gripper_detected) { - counterTurret = NUM_TURRET_DIRECTIONS / 2; + // If turretSequence has odd number of entries, there is a straight forward position at the NUM/4 index. + // See initTurretSequence function for more information. + counterTurret = NUM_TURRET_DIRECTIONS / 4; } } } -- cgit v1.2.1