kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

improve pid and other stuff

Browse Source
This commit is contained in:
kleiax
2021-11-24 16:47:29 +01:00
parent f086bfa6b3
commit c741546ba1
7 changed files with 152 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/driveModi/captureRoute.cpp
+7 -7
View File
@@ -11,14 +11,14 @@ void CaptureRoute::init(Route *route, MoveControl *moveControl, MotorControl *mo
}
void CaptureRoute::runCaptureRoute() {
this->runManualControl();
// this->runManualControl();
static uint64_t last_millis = 0;
if (millis() - last_millis < RUN_CAPTuRE_ROUTE_DELAY) {
return;
}
last_millis = millis();
// static uint64_t last_millis = 0;
// if (millis() - last_millis < RUN_CAPTuRE_ROUTE_DELAY) {
// return;
// }
// last_millis = millis();
//Add Point to route
this->route->addCurrentLocationToRoute();
// this->route->addCurrentLocationToRoute();
}
src/driveModi/manualControl.cpp
-1
View File
@@ -49,7 +49,6 @@ void ManualControl::runManualControl() {
switch (this->controlMode) {
case ControMode::halt:
this->moveControl->setDrivingStatus(DrivingStatus::stop);
//this->reset();
break;
case ControMode::joystick: