diff options
| author | lonkaars <loek@pipeframe.xyz> | 2022-06-02 19:14:08 +0200 |
|---|---|---|
| committer | lonkaars <loek@pipeframe.xyz> | 2022-06-02 19:14:08 +0200 |
| commit | 595763efb64ee861f3ccf458ff35992b94f2fa3a (patch) | |
| tree | 428ae0f7b474b8cb644fadcb4491ed7d8e4baffa /robot/mode_dirc.c | |
| parent | 14779cb187dac9ed4a0b6e7645e76e78587ad024 (diff) | |
[WIP] stop on connection lost in dirc
Diffstat (limited to 'robot/mode_dirc.c')
| -rw-r--r-- | robot/mode_dirc.c | 13 |
1 files changed, 9 insertions, 4 deletions
diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c index 5988816..397d44d 100644 --- a/robot/mode_dirc.c +++ b/robot/mode_dirc.c @@ -1,13 +1,18 @@ #include "mode_dirc.h" #include "io.h" - +#include "hypervisor.h" +#include "modes.h" +#include "../shared/util.h" #include "orangutan_shim.h" int16_t g_w2_mode_dirc_motor_l = 0; int16_t g_w2_mode_dirc_motor_r = 0; +double g_w2_mode_dirc_power = 1.0; void w2_mode_dirc() { - set_motors(g_w2_mode_dirc_motor_l, g_w2_mode_dirc_motor_r); - g_w2_io.motor_left.speed = g_w2_mode_dirc_motor_l; - g_w2_io.motor_right.speed = g_w2_mode_dirc_motor_r; + // if (g_w2_connected) g_w2_mode_dirc_power = 1.0; + // else g_w2_mode_dirc_power = W2_MAX(0, g_w2_mode_dirc_power - 0.01); + + // if (g_w2_mode_dirc_power == 0.0) w2_modes_call(W2_M_HALT); + set_motors(g_w2_mode_dirc_motor_l * g_w2_mode_dirc_power, g_w2_mode_dirc_motor_r * g_w2_mode_dirc_power); } |