From 87747a1a979a4fd07c73c122594247fab3024251 Mon Sep 17 00:00:00 2001 From: petr Date: Fri, 4 May 2012 15:43:52 +0200 Subject: [PATCH] Odometry autocalibration Change sign for writing into file. Update output for user. (show traveled distance) --- src/robofsm/common-states.cc | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/robofsm/common-states.cc b/src/robofsm/common-states.cc index b7d27b2d..f0b910d8 100644 --- a/src/robofsm/common-states.cc +++ b/src/robofsm/common-states.cc @@ -434,7 +434,7 @@ FSM_STATE(go_back_for_cal) robot_set_est_pos_trans(ROBOT_AXIS_TO_BACK_M + 1.0, PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2.0), 0); - robot_move_by(-1.1, NO_TURN(), &tcSlow); + robot_move_by(-1.1, NO_TURN(), &tcVerySlow); FSM_TIMER(200); break; case EV_MOTION_DONE: @@ -444,13 +444,15 @@ FSM_STATE(go_back_for_cal) x1 = robot.odo_distance_a; y1 = robot.odo_distance_b; ROBOT_UNLOCK(est_pos_odo); - printf("EROOR%f", x1); + printf("Distance for calibration: \n"); + printf("Left%f\n", x1); + printf("Right%f\n", y1); FILE * file; file = fopen ("odometry_cal_data","a+"); - sprintf(buffer, "%4.4f", 1/x1); + sprintf(buffer, "%4.4f", -1/x1); fputs (buffer,file); fputs ("\n", file); - sprintf(buffer, "%4.4f", 1/y1); + sprintf(buffer, "%4.4f", -1/y1); fputs (buffer,file); fclose(file); SUBFSM_RET(NULL); -- 2.39.2