From: Andrea Manni <andrea@piffa.net>
Date: Thu, 6 Apr 2017 14:57:55 +0000 (+0200)
Subject: Check con prototipo FSM
X-Git-Url: http://git.piffa.net/web?p=rover;a=commitdiff_plain;h=28cd47af4b30d307905772c1b5850ddeaea80f7e

Check con prototipo FSM
---

diff --git a/libraries/rover/rover.cpp b/libraries/rover/rover.cpp
index a5989b6..61d8e86 100644
--- a/libraries/rover/rover.cpp
+++ b/libraries/rover/rover.cpp
@@ -18,20 +18,20 @@ Licenza:    GPLv3
 const int enA = 6;
 const int in1 = 7;
 const int in2 = 8;
-byte speedA = 255;
+byte speedA = 120; // DX
 // motor two
 const int enB = 5;
 const int in3 = 4;
 const int in4 = 3;
-byte speedB = 255;
+byte speedB = 100;
 
 // Servo vars
 int pos = 0;    // variable to store the servo position
 const byte servoPIN =9 ;
 const byte middle = 90; // Centratura servo
 const int spausa = 10; // Pausa movimenti servo
-const byte sx = 10;  // Min SX
-const byte dx = 170; // Maz DX
+const byte sx = 30;  // Min SX
+const byte dx = 150; // Maz DX
 Servo myservo; // Non c'e' bisogno di extern se e' dichiarato in questo scope
 
 // Ultrasuoni
@@ -40,7 +40,7 @@ const byte echoPIN= 12;
 const byte ledPIN = 13;
 long duration;
 int distance;
-const int minDistance = 10;
+const int minDistance = 20;
 
 ////////////////////////
 // Funzioni:
@@ -204,6 +204,7 @@ boolean distanceCheck() {
     // so it takes ~29.1 milliseconds for a cm.
     distance = (duration / 58.2); // Atmegas are not found of divisions
     // Distance is half of (out + back)
+    distance = constrain(distance,4,35);
 #ifdef DEBUG
 Serial.print("Distanza oggetto: ");    
 Serial.println(distance);
@@ -228,6 +229,7 @@ int distanceMonitor() {
     // so it takes ~29.1 milliseconds for a cm.
     distance = (duration / 58.2); // Atmegas are not found of divisions
     // Distance is half of (out + back)
+    distance = constrain(distance,4,35);
 
     return distance;
 }
diff --git a/prototypes/ultra/check_func/check_func.ino b/prototypes/ultra/check_func/check_func.ino
index 815e352..057f17e 100644
--- a/prototypes/ultra/check_func/check_func.ino
+++ b/prototypes/ultra/check_func/check_func.ino
@@ -52,6 +52,7 @@ boolean distanceCheck() {
     // so it takes ~29.1 milliseconds for a cm.
     distance = (duration / 58.2); // Atmegas are not found of divisions
     // Distance is half of (out + back)
+    distance = constrain(distance,4,35);
 #ifdef DEBUG
 Serial.print("Distanza oggetto: ");    
 Serial.println(distance);
@@ -74,6 +75,7 @@ int distanceMonitor() {
     //distance = (duration / 2) / 29.1; // Speed is ~300m/s,
     // so it takes ~29.1 milliseconds for a cm.
     distance = (duration / 58.2); // Atmegas are not found of divisions
+    distance = constrain(distance,4,35);
     // Distance is half of (out + back)
 
     return distance;