From 27733e737ad82ad5a35a1c71fe35c2d6f0f79b5a Mon Sep 17 00:00:00 2001
From: Ulysse Cura <ulysse.cura@gmail.com>
Date: Sat, 1 Feb 2025 16:53:59 +0100
Subject: [PATCH] =?UTF-8?q?Nettoyage=20de=20code=20et=20changement=20de=20?=
=?UTF-8?q?valeurs=20pour=20toujours=20"plus"=20de=20pr=C3=A9cision.?=
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---
Main.ino | 11 ++++-------
1 file changed, 4 insertions(+), 7 deletions(-)
diff --git a/Main.ino b/Main.ino
index 47768dd..ca1e107 100644
--- a/Main.ino
+++ b/Main.ino
@@ -112,8 +112,8 @@ void loop()
case State::WaitingTimer:
static unsigned long initial_time = millis();
- //if(millis() - initial_time >= 90000)
- if(millis() - initial_time >= 2000)
+ if(millis() - initial_time >= 87000)
+ //if(millis() - initial_time >= 2000)
{
my_IO.initGyroscope();
actual_state = State::ForwardToRamp;
@@ -122,10 +122,9 @@ void loop()
case State::ForwardToRamp:
my_IO.motorControlOn();
- my_IO.setSpeed(NORMAL_SPEED);
my_IO.setSpeed(2000.0f);
- if(my_IO.getAngle(Axes::Y) < -5.0f)
+ if(my_IO.getAngle(Axes::Y) < -8.0f)
{
actual_state = State::ForwardToScene;
}
@@ -133,9 +132,8 @@ void loop()
case State::ForwardToScene:
my_IO.setSpeed(2000.0f);
- if(my_IO.getAngle(Axes::Y) > -5.0f)
+ if(my_IO.getAngle(Axes::Y) > -3.5f)
{
- my_IO.setSpeed(ON_STAGE_SPEED);
my_IO.setSpeed(1300.0f);
actual_state = my_IO.isSelectedColorBlue() ? State::Turn90Blue : State::Turn90Yellow;
//actual_state = State::Dancing;
@@ -161,7 +159,6 @@ void loop()
break;
case State::ForwardToSceneEdge:
- my_IO.setSpeed(ON_STAGE_SPEED);
my_IO.setSpeed(1100.0f);
if(my_IO.getAngle(Axes::Y) > 3.0f)