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Update Main.cpp

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leondevdev 2022-12-13 14:03:02 +01:00 committed by GitHub
parent d270bfa5ef
commit 249c6d1d5b
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1 changed files with 30 additions and 15 deletions
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41
Main.cpp
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@ -184,39 +184,54 @@ void drive()
}
*/
if (0 == Direction){
omniDrive.setVelocity(0.1, 0, 0);
if (1 <= x_distance){
omniDrive.setVelocity(0.2, 0, 0);
if (0.5 <= x_distance){
Direction = 1;
}
}
if (1 == Direction){
omniDrive.setVelocity(-0.1, 0, 0);
omniDrive.setVelocity(-0.2, 0, 0);
if (0.1 >= x_distance){
Direction = 2;
}
if (0.3 >= x_distance)
Direction = 2;
}
if (2 == Direction){
omniDrive.setVelocity(0.1, 0.1, 0);
if (x_distance <= 1 && 1 <= y_distance ){
omniDrive.setVelocity(0.2, 0.2, 0);
if (0.2 <= x_distance && 0.28 <= y_distance){
Direction = 3;
}
}
if (3 == Direction){
for (int i = 0; i < 200; i++){
omniDrive.setVelocity(-0.2, -0.2, 0);
if(0.1 >= x_distance && 0.1 >= y_distance){
Direction = 4;
}
}
omniDrive.setVelocity(0.1, 0.1, 0);
if (4 == Direction){
omniDrive.setVelocity(0, 0.2, 0);
if (0.5 <= y_distance){
Direction = 5;
}
}
if (5 == Direction){
omniDrive.setVelocity(0, -0.2, 0);
if (0.1 >= y_distance){
Direction = 6;
}
}
com.processEvents();
rec::robotino::api2::msleep(100);
rec::robotino::api2::msleep(10);
}
}
@ -227,6 +242,7 @@ void CrossingDriveanndRotate(){
rotate360();
}
if (false == DriveorRotate){
DriveorRotate = true;
@ -240,7 +256,7 @@ void destroy()
int main( int argc, char **argv )
{
std::string hostname = "192.168.100.170";
std::string hostname = "172.27.1.1";
if( argc > 1 )
{
hostname = argv[1];
@ -279,4 +295,3 @@ int main( int argc, char **argv )
#endif
}