Proxim RangeLAN2 7920 Manual do Utilizador descarregar pdf (Página 64)

DIFF = 360-ABSDIFF;

LMotor_Speed = 1;

RMotor_Speed = 2;}

}

Motor();

/*Determine time for turn depending on error PROPORTIONAL CONTROL*/

if (ABSDIFF <= 180)

TurnTime = ABSDIFF/180;

else

TurnTime = (360 - ABSDIFF)/180;

TurnTime = TurnTime*250000;

for (i = 1; i <= TurnTime; i++);

/*Motors Stop*/

LMotor_Speed = 1.5;

RMotor_Speed = 1.5;

Motor();

yield;

}

/*Midcourse correction.*/

if (ABSDIFF >= 5 && (360-ABSDIFF) >=5){

if (ABSDIFF <= 180) {

if (DIFF <= 0){ /*Right turn*/

LMotor_Speed = 2;

RMotor_Speed = 1;}

else{/*Left turn*/

LMotor_Speed = 1;

RMotor_Speed = 2;}

}

else{

if (DIFF > 0) {/*Right turn*/

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Proxim RangeLAN2 7920 Manual do Utilizador Página 64