From: petr <silhavik.p@gmail.com>
Date: Mon, 7 May 2012 21:29:17 +0000 (+0200)
Subject: Odometry autocalibration
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/b6d168ef35f00341799d5ed63b1d25633031ff17

Odometry autocalibration


Correction of mean calculation and shorten time for testing traversed distance.
---

diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc
index d4a0c7b8..8914ecfe 100644
--- a/src/robofsm/common-states.cc
+++ b/src/robofsm/common-states.cc
@@ -435,7 +435,7 @@ FSM_STATE(go_back_for_cal)
 						PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2.0),
 						0);
 			robot_move_by(-1.1, NO_TURN(), &tcVerySlow);
-			FSM_TIMER(150);
+			FSM_TIMER(200);
 			break;
 		case EV_MOTION_DONE:
 			ROBOT_LOCK(est_pos_odo);
diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index 5aeb5dd4..c4fc0346 100644
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -305,9 +305,9 @@ void robot_calibrate_odometry()
 	float b = 0;
 	int num = 0;
 	while (fgets (line, 10 , file)) {
-		a = atof(line);
+		a += atof(line);
 		fgets (line, 10 , file);
-		b = atof(line);
+		b += atof(line);
 		num ++;
 	}
 	fclose (file);