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#1
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Slowing down Camera drive turning
How can I make it turn at a slower speed when tracking with the following code...
if (p1_sw_trig > 0 && tracking > 0) { //If vision active and tracking use camera data p1_y = speed_control; //set forward speed p1_x = pan_position; //set turning rate p1_x = 255 - p1_x; //invert turn direction // Steering Compensation if (p1_x > 135 && p1_x < 225 && steering_comp > 0) p1_x = p1_x + steering_comp; if (p1_x < 120 && p1_x > steering_comp && steering_comp > 0) p1_x = p1_x - steering_comp; pwm11 = Limit_Mix(2000 + p1_y + p1_x - 127); //uses our ramp pwm12 = Limit_Mix(2000 + p1_y - p1_x + 127); //uses our ramp |
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#2
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Re: Slowing down Camera drive turning
Quote:
Code:
unsigned char slow_down = 10; // Change based on how slow you want Code:
if (p1_x > 127 && p1_x - slow_down > 127) p1_x -= slow_down; else if (p1_x < 127 && p1_x + slow_down < 127) p1_x += slow_down; |
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