Skip to content
Browse files

center column and y-avoid tweak

  • Loading branch information...
1 parent 96d00d0 commit 3011df88ecee80f82f6009d16c7dabbe460e15c5 @johnpmayer committed Dec 19, 2011
Showing with 9 additions and 6 deletions.
  1. +2 −1 prod/config.h
  2. +4 −4 prod/main.c
  3. +3 −1 report/newpaper.tex
View
3 prod/config.h
@@ -29,6 +29,7 @@
#define UTURN_THRESH 0.1
// Avoidance 'strafe' constants
-#define Y_AVOID_S 200
+#define Y_AVOID_S 400
#define Y_AVOID_L 400
+#define CENTER_COLUMN_R 200
View
8 prod/main.c
@@ -313,12 +313,12 @@ int main(int argc, char* argv[])
}
// then always move to center if far outside, large move
- if (posY > 250) {
+ if (posY > CENTER_COLUMN_R) {
moveMillimetersY(roomba, -Y_AVOID_L);
orientToAngle(roomba, 0);
break;
}
- else if (posY < -250) {
+ else if (posY < -CENTER_COLUMN_R) {
moveMillimetersY(roomba, Y_AVOID_L);
orientToAngle(roomba, 0);
break;
@@ -371,12 +371,12 @@ int main(int argc, char* argv[])
}
// then always move to center if far outside, large move
- if (posY > 250) {
+ if (posY > CENTER_COLUMN_R) {
moveMillimetersY(roomba, -Y_AVOID_L);
orientToAngle(roomba, PI);
break;
}
- else if (posY < -250) {
+ else if (posY < -CENTER_COLUMN_R) {
moveMillimetersY(roomba, Y_AVOID_L);
orientToAngle(roomba, PI);
break;
View
4 report/newpaper.tex
@@ -90,14 +90,16 @@
Implementation details go here
\mySubSection{Custom Hardware}
-Power unit
+Power unit \\
+We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board We made this power unit to do the kinect and the beagle board
\mySubSection{BeagleBoard xM}
Ubuntu details, etc
\mySubSection{Kinect}
Kinect algorithms
+
\mySubSection{Roomba}
How we used the C wrapper?

0 comments on commit 3011df8

Please sign in to comment.
Something went wrong with that request. Please try again.