diff options
Diffstat (limited to 'robot/mode_dirc.c')
| -rw-r--r-- | robot/mode_dirc.c | 17 |
1 files changed, 10 insertions, 7 deletions
diff --git a/robot/mode_dirc.c b/robot/mode_dirc.c index b7df974..7021721 100644 --- a/robot/mode_dirc.c +++ b/robot/mode_dirc.c @@ -1,22 +1,25 @@ #include "mode_dirc.h" -#include "io.h" +#include "../shared/util.h" #include "hypervisor.h" +#include "io.h" #include "modes.h" -#include "../shared/util.h" #include "orangutan_shim.h" -#include <string.h> #include "../shared/errcatch.h" +#include <string.h> 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; +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_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_power / 100, + g_w2_mode_dirc_motor_r * g_w2_mode_dirc_power / 100); } |