diff options
| author | lonkaars <loek@pipeframe.xyz> | 2022-06-08 14:51:01 +0200 |
|---|---|---|
| committer | lonkaars <loek@pipeframe.xyz> | 2022-06-08 14:51:01 +0200 |
| commit | 92a43e07b10903d5f1a572ebdf9a40571b75e73d (patch) | |
| tree | bb9eef91803f4489bab56975981fee3422b0446b /robot/mode_chrg.c | |
| parent | 1becbf9f7292309b123d9f5839e89bd22fd84e81 (diff) | |
worky
Diffstat (limited to 'robot/mode_chrg.c')
| -rw-r--r-- | robot/mode_chrg.c | 8 |
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 |