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tuning before challenge

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Simon Frei 4 years ago
parent 949b936ed6
commit 6d8603c454
2 changed files with 11 additions and 10 deletions
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  1. 15
      ADIS_Sumo/Sumo/Application.c
  2. 6
      ADIS_Sumo/Sumo/Turn.c

15
ADIS_Sumo/Sumo/Application.c
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@ -389,19 +389,20 @@ static void StateMachine(bool buttonPress) {
// McuShell_SendStr((unsigned char*)"\r\n", McuESP32_GetTxToESPStdio()->stdOut); // McuShell_SendStr((unsigned char*)"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
appState = APP_STATE_IDLE; appState = APP_STATE_IDLE;
mazeFailure=0; mazeFailure=0;
}else if(!LF_IsFollowing() && !MAZE_IsSolved() && mazeFailure < 5){ }else if(!LF_IsFollowing() && !MAZE_IsSolved()){// && mazeFailure < 5){
// failed // failed
mazeFailure++; // mazeFailure++;
MAZE_ClearSolution(); MAZE_ClearSolution();
DRV_SetSpeed(0, 0); DRV_SetSpeed(0, 0);
DRV_SetMode(DRV_MODE_SPEED); DRV_SetMode(DRV_MODE_SPEED);
LF_StartFollowing(); LF_StartFollowing();
}else if(!LF_IsFollowing() && !MAZE_IsSolved() && mazeFailure >= 5){
BUZ_Beep(1000, 1000);
McuShell_SendStr((unsigned char*)"mqtt publish \"/mobile/status/mode/\" \"FAILURE\"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
// McuShell_SendStr((unsigned char*)"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
appState = APP_STATE_IDLE;
} }
// }else if(!LF_IsFollowing() && !MAZE_IsSolved() && mazeFailure >= 5){
// BUZ_Beep(1000, 1000);
// McuShell_SendStr((unsigned char*)"mqtt publish \"/mobile/status/mode/\" \"FAILURE\"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
//// McuShell_SendStr((unsigned char*)"\r\n", McuESP32_GetTxToESPStdio()->stdOut);
// appState = APP_STATE_IDLE;
// }
if(MAZE_GetPresentCount() != presentCnt){ if(MAZE_GetPresentCount() != presentCnt){
presentCnt = MAZE_GetPresentCount(); presentCnt = MAZE_GetPresentCount();
//publish //publish

6
ADIS_Sumo/Sumo/Turn.c
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@ -63,11 +63,11 @@
#define TURN_STEPS_POST_LINE_TIMEOUT_MS 500 #define TURN_STEPS_POST_LINE_TIMEOUT_MS 500
#define TURN_STEPS_STOP_TIMEOUT_MS 150 #define TURN_STEPS_STOP_TIMEOUT_MS 150
#elif PL_IS_INTRO_ZUMO_K22 /* no LiPo */ #elif PL_IS_INTRO_ZUMO_K22 /* no LiPo */
#define TURN_STEPS_90 650//720 #define TURN_STEPS_90 720
/*!< number of steps for a 90 degree turn */ /*!< number of steps for a 90 degree turn */
#define TURN_STEPS_LINE 170//100 /*230*/ #define TURN_STEPS_LINE 100 /*230*/
/*!< number of steps stepping over the line */ /*!< number of steps stepping over the line */
#define TURN_STEPS_POST_LINE 240//150 #define TURN_STEPS_POST_LINE 150
/*!< number of steps after the line, before making a turn */ /*!< number of steps after the line, before making a turn */
#define TURN_STEPS_90_TIMEOUT_MS 1000 #define TURN_STEPS_90_TIMEOUT_MS 1000
#define TURN_STEPS_LINE_TIMEOUT_MS 200 #define TURN_STEPS_LINE_TIMEOUT_MS 200

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