Merge branch 'dorothy' into main

Author: micromouseonline

mazerunner/config.h

@@ -4,7 +4,7 @@
  * File Created: Monday, 29th March 2021 11:04:59 pm
  * Author: Peter Harrison
  * -----
- * Last Modified: Wednesday, 14th April 2021 1:12:15 pm
+ * Last Modified: Thursday, 29th April 2021 9:44:34 am
  * Modified By: Peter Harrison
  * -----
  * MIT License
@@ -36,9 +36,9 @@
 #include <arduino.h>
 
 // force rewrite of EEPROM settings. Set this when developing
-#define ALWAYS_USE_DEFAULT_SETTINGS 1
+#define ALWAYS_USE_DEFAULT_SETTINGS 0
 //***************************************************************************//
-const bool USER_MODE = false;
+const bool USER_MODE = true;
 
 //***************************************************************************//
 // We need to know about the drive mechanics.
@@ -128,7 +128,7 @@ const int RIGHT_THRESHOLD = 40; // minimum value to register a wall
 // Some physical constants that are likely to be board -specific
 
 // with robot against back wall, how much travel is there to the cell center?
-const int BACK_WALL_TO_CENTER = 47;
+const int BACK_WALL_TO_CENTER = 48;
 
 //***************************************************************************//
 
@@ -138,14 +138,14 @@ const float LOOP_INTERVAL = (1.0 / LOOP_FREQUENCY);
 
 //***************************************************************************//
 // change the revision if the settings structure changes to force rewrte of EEPROM
-const int SETTINGS_REVISION = 10319;
+const int SETTINGS_REVISION = 10429;
 const uint32_t BAUDRATE = 115200;
 const int DEFAULT_DECIMAL_PLACES = 5;
 const int EEPROM_ADDR_SETTINGS = 0x0000;
 
 //***************************************************************************//
 // set this to zero to disable profile data logging over serial
-#define DEBUG_LOGGING 1
+#define DEBUG_LOGGING 0
 // time between logged lined when reporting is enabled (milliseconds)
 const int REPORTING_INTERVAL = 10;
 

mazerunner/motion.cpp

@@ -4,7 +4,7 @@
  * File Created: Wednesday, 24th March 2021 6:29:39 pm
  * Author: Peter Harrison
  * -----
- * Last Modified: Friday, 23rd April 2021 9:29:56 am
+ * Last Modified: Friday, 30th April 2021 11:06:46 am
  * Modified By: Peter Harrison
  * -----
  * MIT License
@@ -223,7 +223,7 @@ void wait_until_distance(float distance) {
  *
  * @brief performs an integrated, smooth left turn at low speed.
  */
-void turn_SS90EL() {
+void turn_SS90L_example() {
   float run_in = 20.0;       // mm
   float run_out = 20.0;      // mm
   float turn_speed = 300;    // mm/s
@@ -253,7 +253,7 @@ void turn_SS90EL() {
  *
  * @brief performs an integrated, smooth right turn at low speed.
  */
-void turn_SS90ER() {
+void turn_SS90R_example() {
   float run_in = 20.0;       // mm
   float run_out = 20.0;      // mm
   float turn_speed = 300;    // mm/s

mazerunner/motion.h

@@ -4,7 +4,7 @@
  * File Created: Wednesday, 24th March 2021 6:29:08 pm
  * Author: Peter Harrison
  * -----
- * Last Modified: Friday, 23rd April 2021 9:29:46 am
+ * Last Modified: Friday, 30th April 2021 11:06:46 am
  * Modified By: Peter Harrison
  * -----
  * MIT License
@@ -44,8 +44,8 @@ void stop_after(float distance);
 void wait_until_position(float position);
 void wait_until_distance(float distance);
 
-void turn_SS90EL();
-void turn_SS90ER();
+void turn_SS90L_example();
+void turn_SS90R_example();
 void turn_around();
 void spin_turn(float degrees, float speed, float acceleration);