!!! Dev has the fixed yaw program. So now this code issue focuses on Dev branch
Need to #include "home_task.c" on robotTasks.h
there are 2 get_home_angZ() in home_task.c. -> Delete one of them
add break; on GOTO case in main.c
change DT to DT_MAIN
^^^^^^^^^^^DONE^^^^^^^^^^^^^
edge_avoid_task() in edge_avoid_task.c needs a default return value.
get_home_servo() not defined anywhere
change_search_position break condition rom < to >=
^^^^^^^^^^^^^UNSURE IF STILL EXIST^^^^^^^^^^
change scan rotation to 90 deg/s, need more test to see how fast of a rotation it can handle (need to stop promptly)
or perhaps record the yaw value when detected. But not sure how accurate this will be
!!! Dev has the fixed yaw program. So now this code issue focuses on Dev branch
Need to #include "home_task.c" on robotTasks.h there are 2 get_home_angZ() in home_task.c. -> Delete one of them add break; on GOTO case in main.c change DT to DT_MAIN ^^^^^^^^^^^DONE^^^^^^^^^^^^^
edge_avoid_task() in edge_avoid_task.c needs a default return value. get_home_servo() not defined anywhere change_search_position break condition rom < to >= ^^^^^^^^^^^^^UNSURE IF STILL EXIST^^^^^^^^^^
change top sensor threshold to 12.0
on search_task, add wait to zero program
change params
define SEARCH_COUNT_THRESHOLD 15
define CHANGE_POSITION_DISTANCE 0.15
define MAX_SPEED 0.8MAX_WHEEL_RPM/RADIAN_T0_RPMWHEEL_DIAMETER/2 // [m/s]
define MAX_TURN 0.8MAX_WHEEL_RPM/RADIAN_T0_RPMWHEEL_DIAMETER/ROBOT_TRACK/DEGREE_TO_RADIAN // [deg/s]
kp 1000 kd 0.015
change scan rotation to 90 deg/s, need more test to see how fast of a rotation it can handle (need to stop promptly) or perhaps record the yaw value when detected. But not sure how accurate this will be
readjust offset of short dist (top) sensor