ank/RBE2002
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go straight on intersections

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This commit is contained in:
Andy Killorin 2024-10-25 16:31:08 -04:00
parent cbf38e4fd6
commit d3b9bd3ae5
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 7 additions and 12 deletions
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14
lib/LineSensor/src/LineSensor.cpp
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@ -49,15 +49,5 @@ float LineSensor::CalcError(void)
bool LineSensor::CheckIntersection(void) bool LineSensor::CheckIntersection(void)
{ {
bool retVal = false; return AverageReflectance() > INTERSECTION_THRESHOLD;
}
bool isLeftDark = analogRead(leftSensorPin) > DARK_THRESHOLD;
bool isRightDark = analogRead(rightSensorPin) > DARK_THRESHOLD;
bool onIntersection = isLeftDark && isRightDark;
if(onIntersection && !prevOnIntersection) retVal = true;
prevOnIntersection = onIntersection;
return retVal;
}

5
src/robot.cpp
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@ -118,6 +118,11 @@ void Robot::LineFollowingUpdate(void)
speed *= 1 - (abs(rollingTurnRate) * KTurnRate); speed *= 1 - (abs(rollingTurnRate) * KTurnRate);
if (lineSensor.CheckIntersection()) {
turnEffort = 0;
speed *= 0.8;
}
if (!lineSensor.LineDetected()) { if (!lineSensor.LineDetected()) {
lineLostFrames -= 1; lineLostFrames -= 1;
if (lineLostFrames < 0) { if (lineLostFrames < 0) {