Drive #3
Drive #3
Conversation
The first main code displays the angle detected plus the angle the robot should move, but the angle detected its not the expected one
| private: | ||
| int motorSpeed; | ||
| int pin1; | ||
| int pin2; |
There was a problem hiding this comment.
Reformat variable names following the convention:
int pin_speed_;
int pin_1_;
| public: | ||
| motor motor1; | ||
| motor motor2; | ||
| motor motor3; |
There was a problem hiding this comment.
Following the convention, class names should be in uppercase and member variables in snake case with a trailing underscore:
Motor motor_1_;
| #include "motor.h" | ||
| #include "Arduino.h" | ||
|
|
||
| class drive { |
There was a problem hiding this comment.
The constants could be added as public members in a Constants.h file and used directly in the init function.
| Serial.begin(9600); | ||
|
|
||
| // initialize drive system | ||
| drive robotDrive(m1Speed, m1P1, m1P2, m2Speed, m2P1, m2P2, m3Speed, m3P1, m3P2); |
There was a problem hiding this comment.
The intialization of this object should be global
|
|
||
| float m1 = sin(((60 - degree) * PI / 180)); | ||
| float m2 = sin(((180 - degree) * PI / 180));; | ||
| float m3 = sin(((300 - degree) * PI / 180)); |
There was a problem hiding this comment.
You could encapsulte setting the speeds of the motors in a local function, for example:
motor1.setSpeed(m1*speed);
| digitalWrite(pin1, LOW); | ||
| digitalWrite(pin2, LOW); | ||
| } | ||
|
|
There was a problem hiding this comment.
Local function for set the motor speed example:
void Motor::SetSpeed(int pwm){
int speed = abs(pwm);
//set motor speeds
analogWrite(getMotorSpeed(), speed);
if (pwm >= 0) {
motorFrontward();
} else {
motorBackward();
}
There was a problem hiding this comment.
This solution was working, please refactor following the convention for naming
| yaw = (double)orientationData.orientation.x; | ||
| // convert yaw angle to range -180 to 180 | ||
| yaw = (yaw > 0) ? (360 - yaw) : yaw; | ||
| yaw = (yaw > 180) ? (yaw - 360) : yaw; |
There was a problem hiding this comment.
Try to make this expression in a single line.
New libraries for motors without BNO