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Diffstat (limited to 'zumo/control.cpp')
-rw-r--r--zumo/control.cpp10
1 files changed, 8 insertions, 2 deletions
diff --git a/zumo/control.cpp b/zumo/control.cpp
index 263c145..778969a 100644
--- a/zumo/control.cpp
+++ b/zumo/control.cpp
@@ -3,6 +3,7 @@
#include <Wire.h>
#include "protocol.h"
+#include "control.h"
#define DUI_SPEED_MOD 96.0f
#define DUI_MOTOR_DIFF 0.6f
@@ -11,6 +12,12 @@ void apply_state(dui_state_t *state) {
float motor_l = 0.5f * state->speed * (+1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
float motor_r = 0.5f * state->speed * (-1.f * state->steer * DUI_MOTOR_DIFF - DUI_MOTOR_DIFF + 2) * state->speed_mod * DUI_SPEED_MOD;
+ Serial.print(motor_l);
+ Serial.print(" ");
+ Serial.print(motor_r);
+
+ Serial.println("");
+
Zumo32U4Motors::setLeftSpeed((int16_t) motor_l);
Zumo32U4Motors::setRightSpeed((int16_t) motor_r);
@@ -22,7 +29,7 @@ inline bool rx() { return !digitalRead(DUI_PINOUT_NICLA_RX); }
unsigned char uart_read() {
if (rx() == true) return 0x00; // return immediately if line is idle
- delayMicroseconds(1500); // wait out start bit
+ delayMicroseconds(1200); // wait out start bit
unsigned char byte = 0x00;
for (unsigned int i = 0; i < 8; i++) {
@@ -34,4 +41,3 @@ unsigned char uart_read() {
return byte;
}
-