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authorlonkaars <loek@pipeframe.xyz>2022-06-08 14:51:01 +0200
committerlonkaars <loek@pipeframe.xyz>2022-06-08 14:51:01 +0200
commit92a43e07b10903d5f1a572ebdf9a40571b75e73d (patch)
treebb9eef91803f4489bab56975981fee3422b0446b /robot/mode_chrg.c
parent1becbf9f7292309b123d9f5839e89bd22fd84e81 (diff)
worky
Diffstat (limited to 'robot/mode_chrg.c')
-rw-r--r--robot/mode_chrg.c8
1 files changed, 6 insertions, 2 deletions
diff --git a/robot/mode_chrg.c b/robot/mode_chrg.c
index a871b69..64497e2 100644
--- a/robot/mode_chrg.c
+++ b/robot/mode_chrg.c
@@ -30,14 +30,18 @@ void w2_home() {
void w2_charge_cross_walk() {
+ if (g_w2_transition == 0) {
+ set_motors(-30, 30);
+ delay(50);
+ }
while (g_w2_sensors[0] < 100 && g_w2_sensors[1] < 100 && g_w2_sensors[2] < 100 && g_w2_sensors[3] < 100 &&
g_w2_sensors[4] < 100) {
set_motors(15, 15);
- delay(500);
+ delay(550);
g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON);
if (g_w2_sensors[2] > 100 || g_w2_sensors[3] > 100 || g_w2_sensors[1] > 100) {
set_motors(0, 0);
- clear();
+ // clear();
print("WALK");
g_w2_transition++;
if (g_w2_transition == 3) { //TODO: document g_w2_transition