is it right ???

[Lilor]

We are a rookie team and don't have any real programmers. But we have this code, would this hybrid code work? This is what we have:

#define NEUTRAL 127
#define STRAIGHTSPEEDLEFT 215
#define STRAIGHTSPEEDRIGHT 200 //left side not as efficient
#define TURNSPEEDLEFT 54
#define TURNSPEEDRIGHT 200
#define IRswitch1 rc_dig_in01
#define IRswitch2 rc_dig_in02
#define IRswitch3 rc_dig_in03
#define IRswitch4 rc_dig_in04


if (!IRswitch1) //If the IR has been pressed
pwm01-255;
pwm03-255; //Do whatever when switch is down
}

if (!IRswitch2) //If the IR has been pressed
pwm01-127;
pwm03-127; //Do whatever when switch is down
}

Or what are we missing??

[psy_wombats]

That seems about right. Except make sure those lines like pwm01-255; is actually pwm01=255;, otherwise that should be a syntax error. I don't know why the compiler isn't detecting that one.

[Alan Anderson]

Originally Posted by Lilor

if (!IRswitch1)    //If the IR has been pressed
pwm01-255;
pwm03-255;         //Do whatever when switch is down
}

A few comments:

First, the IR sensor board signals are read as 0 (false) when not active, and as 1 (true) when detecting a signal. That's the opposite of how a switch to ground is typically sensed, so you need to remove the exclamation point.

Second, because of this behavior, a disconnected board will read as if all four signals are active simultaneously. It would be a good idea to put in a check to make sure only one signal is being detected, and ignore everything if multiple signals show up at the same time.

Third, I think you meant to use an equals sign instead of a minus sign. As you have written it, the compiler will accept such lines without complaint, but the code won't actually do anything.

Fourth, you don't have any open braces after your if statements. The compiler will not be happy about that, and will complain about what it thinks is an "extra" closing brace when it encounters one.

Finally, the maximum output for a pwm signal is actually 254, not 255. (I don't know where in the system it gets limited, but I know the dashboard will show 254 if you do attempt to set a pwm output to 255.)