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5_calibration.ino
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5_calibration.ino
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void calibration(){
leftEncoder.setEncoderCount(0);
rightEncoder.setEncoderCount(0);
target_number = 0;
int current_state = 0; // 0 = turning state, 1 = driving state
while(digitalRead(button_pin) == LOW){
if(Serial.available()){
BT_COM=Serial.read();
//Serial.println("Activated!");
if (BT_COM == 1) // turn left
{
if (current_state == 1){
target_dis[target_number] = (leftEncoder.getEncoderCount()+rightEncoder.getEncoderCount())/2;
current_state = 0;
target_number++;
}
turn_for_a_period(0,ms_time);
//Serial.println(1);
}
if (BT_COM == 2){ // turn right
if (current_state == 1){
target_dis[target_number] = (leftEncoder.getEncoderCount()+rightEncoder.getEncoderCount())/2;
current_state = 0;
target_number++;
}
turn_for_a_period(1,ms_time);
//Serial.println(2);
}
if (BT_COM == 3){ // backward
if (current_state == 0){
leftEncoder.setEncoderCount(0);
rightEncoder.setEncoderCount(0);
target_dir[target_number] = get_direction_filter10();
current_state = 1;
}
drive_straight(0, ms_time);
//Serial.println(3);
}
if (BT_COM == 4){ // forward
if (current_state == 0){
leftEncoder.setEncoderCount(0);
rightEncoder.setEncoderCount(0);
target_dir[target_number] = get_direction_filter10();
current_state = 1;
}
drive_straight(1, ms_time);
//Serial.println(4);
}
}
}
if (current_state == 1){
target_dis[target_number] = (leftEncoder.getEncoderCount()+rightEncoder.getEncoderCount())/2;
current_state = 0;
target_number++;
}
}