diff options
Diffstat (limited to 'robot/mode_maze.c')
| -rw-r--r-- | robot/mode_maze.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/robot/mode_maze.c b/robot/mode_maze.c index da3fa2a..eb75e3c 100644 --- a/robot/mode_maze.c +++ b/robot/mode_maze.c @@ -1,19 +1,19 @@ #include "mode_maze.h" -#include "orangutan_shim.h" -#include "movement.h" #include "mode_grid.h" +#include "movement.h" +#include "orangutan_shim.h" unsigned int g_w2_last_proportional = 0; long g_w2_integral = 0; void w2_mode_maze() { // PID controller - g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); + g_w2_position = read_line(g_w2_sensors, IR_EMITTERS_ON); int proportional = ((int)g_w2_position) - 2000; - int derivative = proportional - g_w2_last_proportional; + int derivative = proportional - g_w2_last_proportional; g_w2_integral += proportional; g_w2_last_proportional = proportional; - int power_difference = proportional / 20 + g_w2_integral / 10000 + derivative * 3 / 2; + int power_difference = proportional / 20 + g_w2_integral / 10000 + derivative * 3 / 2; const int max = 60; if (power_difference > max) power_difference = max; |