diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/mode_chrg.c | 7 | ||||
| -rw-r--r-- | robot/mode_grid.c | 4 | ||||
| -rw-r--r-- | robot/mode_halt.c | 2 | ||||
| -rw-r--r-- | robot/mode_maze.c | 2 | ||||
| -rw-r--r-- | robot/mode_scal.c | 2 | ||||
| -rw-r--r-- | robot/mode_spin.c | 2 | ||||
| -rw-r--r-- | robot/movement.c | 2 |
7 files changed, 10 insertions, 11 deletions
diff --git a/robot/mode_chrg.c b/robot/mode_chrg.c index dac6174..f75ce5f 100644 --- a/robot/mode_chrg.c +++ b/robot/mode_chrg.c @@ -1,7 +1,7 @@ #include "mode_chrg.h" -#include "io.h" #include "../shared/bool.h" #include "hypervisor.h" +#include "io.h" #include "mode_grid.h" #include "modes.h" #include "movement.h" @@ -53,7 +53,7 @@ bool w2_charge_cross_walk() { void w2_mode_chrg() { static unsigned int last_proportional = 0; static long integral = 0; - static bool g_w2_chrg_aligned = false; + static bool g_w2_chrg_aligned = false; if (g_w2_chrg_aligned) { if (g_w2_target_area == W2_AREA_CHRG) return; @@ -88,7 +88,7 @@ void w2_mode_chrg() { // Compute the actual motor settings. We never set either motor // to a negative value. - + const int max = 60; if (power_difference > max) power_difference = max; if (power_difference < -max) power_difference = -max; @@ -126,4 +126,3 @@ void w2_mode_chrg() { } } } - diff --git a/robot/mode_grid.c b/robot/mode_grid.c index b6ed572..8a13f69 100644 --- a/robot/mode_grid.c +++ b/robot/mode_grid.c @@ -1,13 +1,13 @@ #include <stdio.h> #include <string.h> -#include "mode_grid.h" +#include "../shared/errcatch.h" #include "hypervisor.h" #include "io.h" +#include "mode_grid.h" #include "modes.h" #include "movement.h" #include "orangutan_shim.h" -#include "../shared/errcatch.h" /** * TODO: mode_grid g_w2_target_area laten volgen diff --git a/robot/mode_halt.c b/robot/mode_halt.c index 268a922..4ebcd99 100644 --- a/robot/mode_halt.c +++ b/robot/mode_halt.c @@ -1,6 +1,6 @@ #include "mode_halt.h" -#include "orangutan_shim.h" #include "io.h" +#include "orangutan_shim.h" // emergency stop void w2_mode_halt() { w2_set_motors(0, 0); } diff --git a/robot/mode_maze.c b/robot/mode_maze.c index a7f76ec..db789cc 100644 --- a/robot/mode_maze.c +++ b/robot/mode_maze.c @@ -1,8 +1,8 @@ #include "mode_maze.h" +#include "io.h" #include "mode_grid.h" #include "movement.h" #include "orangutan_shim.h" -#include "io.h" unsigned int g_w2_last_proportional = 0; long g_w2_integral = 0; diff --git a/robot/mode_scal.c b/robot/mode_scal.c index 245fec4..bb0473b 100644 --- a/robot/mode_scal.c +++ b/robot/mode_scal.c @@ -1,7 +1,7 @@ #include "mode_scal.h" +#include "io.h" #include "modes.h" #include "orangutan_shim.h" -#include "io.h" // callibrates the robot void w2_mode_scal() { diff --git a/robot/mode_spin.c b/robot/mode_spin.c index 1c7cc11..07618bd 100644 --- a/robot/mode_spin.c +++ b/robot/mode_spin.c @@ -1,6 +1,6 @@ #include "mode_spin.h" -#include "orangutan_shim.h" #include "io.h" +#include "orangutan_shim.h" // wet floor simulation void w2_mode_spin() { w2_set_motors(255, -255); } diff --git a/robot/movement.c b/robot/movement.c index b800464..1ceb81e 100644 --- a/robot/movement.c +++ b/robot/movement.c @@ -1,6 +1,6 @@ #include "movement.h" -#include "orangutan_shim.h" #include "io.h" +#include "orangutan_shim.h" unsigned int g_w2_sensors[5] = {0}; // IR sensors on the bottom of the robot unsigned int g_w2_position = 0; // position on the black line |