From 049b0c18305b800734c01f03cb8c63f302a7ca8a Mon Sep 17 00:00:00 2001
From: EmaMaker <emamaker@gmail.com>
Date: Thu, 5 Dec 2019 12:51:23 +0100
Subject: [PATCH] lines now working: angle of each motor was est to 0 in
 constructor

---
 src/drivecontroller.cpp |  4 ++++
 src/ds_ctrl_lines.cpp   | 10 +++++-----
 src/main.cpp            |  2 +-
 src/motor.cpp           |  2 --
 4 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/src/drivecontroller.cpp b/src/drivecontroller.cpp
index 6d1d526..af2653d 100644
--- a/src/drivecontroller.cpp
+++ b/src/drivecontroller.cpp
@@ -28,6 +28,10 @@ DriveController::DriveController(Motor* m1_, Motor* m2_, Motor* m3_, Motor* m4_)
     errorP = 0;
     errorI = 0;
     errorD = 0;
+    
+    errorePre = 0;
+    pidfactor = 0;
+    integral = 0;
 }
 
 void DriveController::prepareDrive(int dir, int speed, int tilt){
diff --git a/src/ds_ctrl_lines.cpp b/src/ds_ctrl_lines.cpp
index c3672c4..f973b5c 100644
--- a/src/ds_ctrl_lines.cpp
+++ b/src/ds_ctrl_lines.cpp
@@ -50,7 +50,7 @@ void DataSourceCtrlLines::read(){
 }
 
 void DataSourceCtrlLines::postProcess(){
-    if ((inV > 0) || (outV > 0)) {
+  if ((inV > 0) || (outV > 0)) {
       fboundsOX = true;
       fboundsOY = true;
     if(exitTimer > EXTIME) {
@@ -64,7 +64,7 @@ void DataSourceCtrlLines::postProcess(){
 }
 
 void DataSourceCtrlLines::outOfBounds(){
-    //handleExtern();
+    handleExtern();
     handleIntern();
 }
 
@@ -144,8 +144,8 @@ void DataSourceCtrlLines::handleIntern(){
         break;
     }
 
-    if(exitTimer < 45) outVel = 200;
-    else outVel = 150;
+    if(exitTimer < 45) outVel = 350;
+    else outVel = 330;
     drive->prepareDrive(outDir, outVel, 0);
     // keeper_backToGoalPost = true;
     // keeper_tookTimer = true;
@@ -154,7 +154,7 @@ void DataSourceCtrlLines::handleIntern(){
     inVOldX = 0;
     inVOldY = 0;
     // lineSensByteBak = 30;
-    //drive->canUnlock = true;
+    drive->canUnlock = true;
   }
 
 //    lineSensByteBak = linesensbyteI;
diff --git a/src/main.cpp b/src/main.cpp
index 77614af..4c8fd4f 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -11,12 +11,12 @@ void setup() {
   delay(2000);
 }
 
+
 void loop() {
   updateSensors();
 
   drive->prepareDrive(0,0,0);
   linesCtrl->update();
- 
   drive->drivePrepared();
 
 } 
diff --git a/src/motor.cpp b/src/motor.cpp
index 0bf5f13..ccdf0ec 100644
--- a/src/motor.cpp
+++ b/src/motor.cpp
@@ -11,8 +11,6 @@ Motor::Motor(int a, int b, int pwm, int angle_){
     pinMode(pinA, OUTPUT);
     pinMode(pinB, OUTPUT);
     pinMode(pinPwm, OUTPUT);
-
-    angle = 0;
 }
 
 Motor::Motor(){ }