diff options
| author | lonkaars <loek@pipeframe.xyz> | 2022-06-07 23:46:48 +0200 |
|---|---|---|
| committer | lonkaars <loek@pipeframe.xyz> | 2022-06-07 23:46:48 +0200 |
| commit | 0d3c52e49dc34344f335fd6d7b214592723cbc93 (patch) | |
| tree | 36c8b974556a5ee3c955549131ac3858208d373b /robot/mode_dirc.c | |
| parent | c88c7c7c6e6c687c3d8170cb07a467aa3c4d7f48 (diff) | |
implemented obstacle detection
Diffstat (limited to 'robot/mode_dirc.c')
| -rw-r--r-- | robot/mode_dirc.c | 11 |
1 files changed, 1 insertions, 10 deletions
diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c index 7021721..429d1e1 100644 --- a/robot/mode_dirc.c +++ b/robot/mode_dirc.c @@ -10,16 +10,7 @@ int16_t g_w2_mode_dirc_motor_l = 0; int16_t g_w2_mode_dirc_motor_r = 0; -uint8_t g_w2_mode_dirc_power = 100; void w2_mode_dirc() { - if (g_w2_connected == 1) - g_w2_mode_dirc_power = 100; - else - g_w2_mode_dirc_power = W2_MAX(0, g_w2_mode_dirc_power - 1); - - if (g_w2_mode_dirc_power == 0) w2_modes_call(W2_M_HALT); - - set_motors(g_w2_mode_dirc_motor_l * g_w2_mode_dirc_power / 100, - g_w2_mode_dirc_motor_r * g_w2_mode_dirc_power / 100); + set_motors(g_w2_mode_dirc_motor_l, g_w2_mode_dirc_motor_r); } |