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experimenting with y axis

pull/1/head
u-siri-ous 2020-02-17 18:38:57 +01:00
parent f62bb9751f
commit 372e6ac02c
2 changed files with 10 additions and 10 deletions
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3
include/positionsys_zone.h
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@ -55,7 +55,8 @@
#define SOUTH_CENTER 8 #define SOUTH_CENTER 8
#define SOUTH_EAST 9 #define SOUTH_EAST 9
#define CAMERA_CENTER 3 #define CAMERA_CENTER_X 3
#define CAMERA_CENTER_Y 1
class PositionSysZone : public PositionSystem{ class PositionSysZone : public PositionSystem{
public: public:

17
src/positionsys_zone.cpp
View File

@ -373,16 +373,15 @@ void PositionSysZone::testLogicZone(){
void PositionSysZone::goCenter() { void PositionSysZone::goCenter() {
/* if((camera->true_yb + camera->true_yy) >= 3 && (camera->true_yb + camera->true_yy) <= -3) { if((camera->true_yb + camera->true_yy) >= -CAMERA_CENTER_Y) drive->prepareDrive(180, 75, 0);
//dx o sx else if ((camera->true_yb + camera->true_yy) <= CAMERA_CENTER_Y) drive->prepareDrive(0, 75, 0);
if((camera->true_yb + camera->true_yy) < 0) drive->prepareDrive(0, 200, 0);
else if ((camera->true_yb + camera->true_yy) > 0) drive->prepareDrive(270, 200, 0);
} */
if(camera->true_xb < -CAMERA_CENTER || camera->true_xy < -CAMERA_CENTER) drive->prepareDrive(90, 75, 0);
else if(camera->true_xb > CAMERA_CENTER || camera->true_xy > CAMERA_CENTER) drive->prepareDrive(270, 75, 0);
else drive->prepareDrive(0, 0, 0); else drive->prepareDrive(0, 0, 0);
/* if (zoneIndex == 8) /* if(camera->true_xb < -CAMERA_CENTER_X || camera->true_xy < -CAMERA_CENTER_X) drive->prepareDrive(90, 75, 0);
else if(camera->true_xb > CAMERA_CENTER_X || camera->true_xy > CAMERA_CENTER_X) drive->prepareDrive(270, 75, 0);
else drive->prepareDrive(0, 0, 0); */
/*
PREVIOUS
if (zoneIndex == 8)
drive->prepareDrive(330, GOCENTER_VEL); drive->prepareDrive(330, GOCENTER_VEL);
if (zoneIndex == 7) if (zoneIndex == 7)
drive->prepareDrive(0, GOCENTER_VEL); drive->prepareDrive(0, GOCENTER_VEL);