Commit e8185078 authored by ivangrujic's avatar ivangrujic
Browse files

Modified pilotROute

parent f0ba05c9
...@@ -6,12 +6,13 @@ public class PilotRoute ...@@ -6,12 +6,13 @@ public class PilotRoute
{ {
private SlaveIOStreams PC; private SlaveIOStreams PC;
private double wheelDiameter = 5.5, trackWidth = 16.0; private double distFactor = 0.99;
private double wheelDiameterL = 5.595*distFactor, wheelDiameterR = 5.6*distFactor, trackWidth = 16.27;
private double travelSpeed = 5, rotateSpeed = 45; private double travelSpeed = 5, rotateSpeed = 45;
private NXTRegulatedMotor left = Motor.B; private NXTRegulatedMotor left = Motor.B;
private NXTRegulatedMotor right = Motor.C; private NXTRegulatedMotor right = Motor.C;
private DifferentialPilot pilot = new DifferentialPilot(wheelDiameter, trackWidth, left, right); private DifferentialPilot pilot = new DifferentialPilot(wheelDiameterL,wheelDiameterR,trackWidth, left, right,false);
public PilotRoute(boolean usb) public PilotRoute(boolean usb)
{ {
...@@ -48,8 +49,8 @@ public class PilotRoute ...@@ -48,8 +49,8 @@ public class PilotRoute
Sound.twoBeeps(); Sound.twoBeeps();
travel(50); travel(50);
rotate(90); rotate(-90);
travel(20); travel(50);
rotate(-90); rotate(-90);
travel(50); travel(50);
......
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