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Driving is more sane now.

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This commit is contained in:
dkbug 2016-02-20 16:22:05 -05:00
parent 39d7ff7c4d
commit d0dad2237c
1 changed files with 6 additions and 4 deletions
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10
src/Robot.cpp
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@ -254,13 +254,15 @@ private:
oldXY = x + y;
if (x > 0)
{
left_drive.Set(y * driver_stick.GetThrottle());
right_drive.Set((1-x)*y * driver_stick.GetThrottle());
float left = y * driver_stick.GetThrottle();
float right = (1-x)*y * driver_stick.GetThrottle();
drive.TankDrive(left, right);
}
else
{
right_drive.Set(y * driver_stick.GetThrottle());
left_drive.Set((1+x)*y * driver_stick.GetThrottle());
float left = y * driver_stick.GetThrottle();
float right = (1+x)*y * driver_stick.GetThrottle();
drive.TankDrive(left, right);
}
}
}