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;
}
}
}
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