Revision 25388c2f devices/DiWheelDrive/userthread.cpp

View differences:

devices/DiWheelDrive/userthread.cpp
452 452 
                vcnl4020AmbientLight[i] = global.vcnl4020[i].getAmbientLight();
453 453 
                vcnl4020Proximity[i] = global.vcnl4020[i].getProximityScaledWoOffset();
454 454 
            }
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			lf.followLine(vcnl4020Proximity, rpmFuzzyCtrl, &global);
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			lf.stableFollow(vcnl4020Proximity, rpmFuzzyCtrl, &global);
456 456 
            // chprintf((BaseSequentialStream*) &SD1, "0x%04X 0x%04X 0x%04X 0x%04X\n",
457 457 
            //         vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT],
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            //         vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT],
......
462 462 
	//   lineFollownew
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	//else
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            // lineFollowing(vcnl4020Proximity, rpmFuzzyCtrl, &global);
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            // setRpmSpeed(rpmFuzzyCtrl);
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            setRpmSpeed(rpmFuzzyCtrl);
466 466 
        }
467 467 

  		




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		// this->sleep(US2ST(5));


  		












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