diff options
| author | lonkaars <loek@pipeframe.xyz> | 2022-06-06 15:31:36 +0200 |
|---|---|---|
| committer | lonkaars <loek@pipeframe.xyz> | 2022-06-06 15:31:36 +0200 |
| commit | d69b8110517114d884c185c4dc8053858670c81f (patch) | |
| tree | 8912cc5cb1b7ead5ce7469cd60356af189e926ce /robot/mode_scal.c | |
| parent | 9cbd1ed3bd8e59e24bd4db92b749213ac2c0c8f9 (diff) | |
scal and spin done, removed lcal
Diffstat (limited to 'robot/mode_scal.c')
| -rw-r--r-- | robot/mode_scal.c | 17 |
1 files changed, 9 insertions, 8 deletions
diff --git a/robot/mode_scal.c b/robot/mode_scal.c index f3178d7..53cbf67 100644 --- a/robot/mode_scal.c +++ b/robot/mode_scal.c @@ -1,19 +1,20 @@ #include "mode_scal.h" +#include "modes.h" +#include "orangutan_shim.h" void w2_mode_scal() { - // TODO ??? - /* pololu_3pi_init(2000); + pololu_3pi_init(2000); for (int counter = 0; counter < 80; counter++) { if (counter < 20 || counter >= 60) { - g_w2_io.motor_left.speed = 40; - g_w2_io.motor_right.speed = -40; + set_motors(40, -40); } else { - g_w2_io.motor_left.speed = -40; - g_w2_io.motor_right.speed = 40; + set_motors(-40, 40); } calibrate_line_sensors(IR_EMITTERS_ON); - delay_ms(20); // TODO foei - } */ + delay_ms(20); + } + + w2_modes_call(W2_M_PREV); } |