kleiax/Bachelorarbeit-Rover
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ntrip, testMode, zed9 gnss modul

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kleiax
2022-09-13 20:31:52 +02:00
parent c7cb0d3895
commit af6cb98898
43 changed files with 907 additions and 262 deletions
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src/driveModi/Modi/Autopilot/autopilot.cpp
+5 -5
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@@ -25,11 +25,11 @@ void Autopilot::loop() {
if (!this->selfDriving && this->navigationStarted)
ManualControl::loop();
if (millis() - this->last_millis < delay)
if (millis() - this->lastMillis < delay)
return;
this->runAutopilot();
this->last_millis = millis();
this->lastMillis = millis();
}
void Autopilot::runAutopilot() {
@@ -76,7 +76,7 @@ void Autopilot::setSelfDriving(bool val) {
this->selfDriving = val;
this->moveControl->setSpeed(0);
this->moveControl->setRotationspeed(0);
this->moveControl->setRotationSpeed(0);
}
void Autopilot::setSpeedInRelToDistance(double distance) {
@@ -97,7 +97,7 @@ void Autopilot::setRotInRelToDistance(int16_t course) {
steps = 1;
if (course == 0)
this->moveControl->setRotationspeed(0);
this->moveControl->setRotationSpeed(0);
else
this->moveControl->setRotationspeed(steps);
this->moveControl->setRotationSpeed(steps);
}