diff options
Diffstat (limited to 'source/Concept/Framework/modules/executor/navigator.c')
| -rwxr-xr-x | source/Concept/Framework/modules/executor/navigator.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/source/Concept/Framework/modules/executor/navigator.c b/source/Concept/Framework/modules/executor/navigator.c index 7c4618a..8320eca 100755 --- a/source/Concept/Framework/modules/executor/navigator.c +++ b/source/Concept/Framework/modules/executor/navigator.c @@ -59,7 +59,7 @@ void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float //-----------------------------------------------------------------------------
void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed)
{
- if(newX < 0 || newY < 0) return;
+ if(newX == EMPTY_FLOAT || newY == EMPTY_FLOAT) return;
Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
@@ -125,7 +125,7 @@ bool Navigator::TargetReached() bool targetReached = false;
- if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < 1.0f))
+ if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < DISTANCE_TOLERANCE))
{
targetReached = true;
}
@@ -230,7 +230,7 @@ void Navigator::CalculateEngines() vBack = ((float)vBack * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
vRight = ((float)vRight * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vLeft,10,2);
+ (parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,2);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,3);
//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vRight,10,4);
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