From 42af19d4cef8014b4901d544ca77fd3dda2cc8a5 Mon Sep 17 00:00:00 2001 From: Blboun3 <62328614+Blboun3@users.noreply.github.com> Date: Fri, 10 Nov 2023 10:07:39 +0100 Subject: [PATCH] Denk proof backup #2 --- README.md | 1 + app | Bin 228200 -> 236956 bytes app.cpp | 21 +++++++++++++++------ 3 files changed, 16 insertions(+), 6 deletions(-) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..69eb328 --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +# ROBOSOUTĚŽ 2023 diff --git a/app b/app index 6aae6a09afdc879133b3c0dc15c0b1ab60ee0b24..c4f3e082998680c4654ca9b996c01990ddb7a132 100644 GIT binary patch delta 54857 zcmc${4OmrG+Bd$}ItN2VJ18nC=}}3k2#-ohMT$yFMMi~1Mv6vChDJ(8J=i%W6*XGa zrWTbSr=p@VqhLBz=3r8xV@5O7P-6|BGn7^|F%8p$^8ej?-&;0ks+s?Lz1Q{b>$>@^ z`(xefd+oK?Ui;Ab&SYk#cP@t^^`-?q!tpdxiyCtqq($Un$Wbo=G&!~ zV$dV=CY_O8B{iZ`5F-=>3r(w*S`K7Hv4b=%@sS61%Hr3m&Jr`E?5?a@>Szs_RJaQf zVe9hj>~Ohvb~ro_H%pKHH_fGYjOgq8y1k-m#o%=gSzDoh8n#Y6r(ZJcRhjgh{?o8H 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z-tDDD%!`<|%a=0iux<~iV%A`u-cZY2%$izMl$XE#Q!TRv>vX?*W~J$8yO;&G=QK0d zGH!p@!u*ScF>3nxdS>zMd|k}(tlLZbnOzvCADFG>ma`m))~N^GF9O_u2C=YVWZP%*<2 z3+y3G{|QnCIw14RCfgctFbA}2VS#bHeF~gvl3H5#dNc|%xb(Vt^$Vwav2!-K_NOl Wb1t*AM29mo`0P-i2p9mv9t;2wl4+a( diff --git a/app.cpp b/app.cpp index e861c2c..5cbd715 100644 --- a/app.cpp +++ b/app.cpp @@ -3,6 +3,7 @@ #include #include #include +#include /* Change notes: @@ -104,7 +105,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens { const int LEFT_THRESHOLD = -3; const int RIGHT_THRESHOLD = 3; - const int CORRECTION_MULTIPLIER = 3; + const int CORRECTION_MULTIPLIER = 2; const int CYCLE_LIMIT = 0;//75; gyro.resetHard(); @@ -151,7 +152,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens if (angle > LEFT_THRESHOLD) { //ev3_speaker_play_tone(NOTE_A5, 250); int correction = angle - LEFT_THRESHOLD; - motor_powers.lMotorPWR += correction * CORRECTION_MULTIPLIER; + motor_powers.lMotorPWR += (int)pow(CORRECTION_MULTIPLIER, correction); ev3_speaker_play_tone(correction*1000,50); // Check if the motor is stuck if(lPower == 0){ @@ -166,7 +167,11 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens // If 5 problems occured than try to fix the problem if(lCounter == 6){ ev3_speaker_play_tone(NOTE_C4, 250); - ev3cxx::setColor(RED); + ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED); + motors.on(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR); + tslp_tsk(250); + motors.off(); + lCounter = 0; } // Reset counter } else { @@ -179,7 +184,7 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens } else if (angle < RIGHT_THRESHOLD) { //ev3_speaker_play_tone(NOTE_A4, 250); int correction = angle - RIGHT_THRESHOLD; - motor_powers.rMotorPWR += correction * CORRECTION_MULTIPLIER; + motor_powers.rMotorPWR += (int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER; ev3_speaker_play_tone(correction*1000,50); // Check if the motor is stuck if(rPower == 0){ @@ -194,7 +199,11 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens // If 5 problems occured than try to fix the problem if(rCounter == 6){ ev3_speaker_play_tone(NOTE_C5, 250); - ev3cxx::setColor(ORANGE); + ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE); + motors.on(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR); + tslp_tsk(250); + motors.off(); + rCounter = 0; } // Reset counter } else { @@ -248,7 +257,7 @@ void main_task(intptr_t unused) // Set up motor powers MPWRS idealMPWRS; - idealMPWRS.lMotorPWR = 87; + idealMPWRS.lMotorPWR = 85; idealMPWRS.rMotorPWR = 50; MPWRS motor_powers;