blboun3/robosoutez-2023
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Denk proof backup #4

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Blboun3 2023-11-10 14:22:50 +01:00
parent b065369fac
commit f26155ba17
2 changed files with 9 additions and 7 deletions
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app
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16
app.cpp
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@ -105,8 +105,8 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
{
const int LEFT_THRESHOLD = -2;
const int RIGHT_THRESHOLD = 2;
const int CORRECTION_MULTIPLIER = 2;
const int CYCLE_LIMIT = 95;
const int CORRECTION_MULTIPLIER = 20;
const int CYCLE_LIMIT = 90;
gyro.resetHard();
ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
@ -147,10 +147,11 @@ 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;//(int)pow(CORRECTION_MULTIPLIER, correction);
ev3_speaker_play_tone(correction*1000,50);
motor_powers.lMotorPWR = motor_powers.lMotorPWR + ((int)pow(CORRECTION_MULTIPLIER, correction));//(int)pow(CORRECTION_MULTIPLIER, correction);
ev3_speaker_play_tone(correction*1000,30);
// Check if the motor is stuck
if(lPower == 0){
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
ev3_speaker_play_tone(NOTE_A5,250);
}
@ -158,10 +159,11 @@ 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;//(int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
ev3_speaker_play_tone(correction*1000,50);
motor_powers.rMotorPWR = motor_powers.rMotorPWR + ((int)pow(CORRECTION_MULTIPLIER, correction));//(int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
ev3_speaker_play_tone(correction*1000,30);
// Check if the motor is stuck
if(rPower == 0){
ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
ev3_speaker_play_tone(NOTE_A4,250);
}
}
@ -181,7 +183,7 @@ void main_task(intptr_t unused)
// Create version info
// version createVersion(int versionID, const char *codename, int major, int minor, int patch, int day, int month, int year, int hour, int minute)
const version VERSION = createVersion(54, "HELGA", 0, 4, 1, 10, 11, 2023, 12, 10);
const version VERSION = createVersion(58, "HELGA", 0, 4, 1, 10, 11, 2023, 12, 10);
// Set-up screen
ev3cxx::display.resetScreen();