sbubabub

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){

src/ds_ctrl_lines.cpp

@@ -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;

src/goalie.cpp

@@ -73,7 +73,9 @@
     drive->prepareDrive(atk_direction, atk_speed, 0);
   }
   else drive->prepareDrive(atk_direction, atk_speed, 0);
-   /*  digitalWrite(LED_G, HIGH);
+
+
+   /* siria digitalWrite(LED_G, HIGH);
     if(ball->ballSeen){
         if(ball->angle >= 0 && ball->angle < 45) drive->drive(ball->angle, 75, 0);
         else if(ball->angle >= 45 && ball->angle <= 60) drive->drive(ball->angle, 75, 0);

src/main.cpp

@@ -87,6 +87,7 @@ void setup() {
   delay(2000);
 }
 
+
 void loop() {
   updateSensors();
   Trial trial;
@@ -94,6 +95,9 @@ void loop() {
   //drive->prepareDrive(0,0,0);
   //linesCtrl->update();
  
+
+  //drive->prepareDrive(0,0,0);
+  linesCtrl->update();
   drive->drivePrepared();
 
 }