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Fixed issue #1478, #1599, #1709, motors being opposite, updated turning algorithm

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This commit is contained in:
Xun Yang
2014-02-12 02:02:20 +01:00
parent b78fcf5139
commit 53adddcb33
33 changed files with 58 additions and 1100 deletions
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12
libraries/Robot_Motor/ArduinoRobotMotorBoard.cpp
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@@ -170,20 +170,20 @@ void RobotMotorBoard::motorsWrite(int speedL, int speedR){
speedL*=(1-motorAdjustment);
}
if(speedL>0){
analogWrite(IN_A1,speedL);
if(speedR>0){
analogWrite(IN_A1,speedR);
analogWrite(IN_A2,0);
}else{
analogWrite(IN_A1,0);
analogWrite(IN_A2,-speedL);
analogWrite(IN_A2,-speedR);
}
if(speedR>0){
analogWrite(IN_B1,speedR);
if(speedL>0){
analogWrite(IN_B1,speedL);
analogWrite(IN_B2,0);
}else{
analogWrite(IN_B1,0);
analogWrite(IN_B2,-speedR);
analogWrite(IN_B2,-speedL);
}
}
void RobotMotorBoard::motorsWritePct(int speedLpct, int speedRpct){