Edited constants and required turn method to accept input for turn du…

…rations. v1.0.1
davidskeck · Apr 24, 2014 · f624cbf · f624cbf
1 parent edd696b
commit f624cbf
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Showing 2 changed files with 8 additions and 7 deletions.
diff --git a/libraries/CurioDuinoNav/CurioDuinoNav.cpp b/libraries/CurioDuinoNav/CurioDuinoNav.cpp
@@ -18,16 +18,16 @@ void CurioDuinoNav::begin()
   forwardSpeed = 0;
 }
 
-void CurioDuinoNav::turnLeft()
+void CurioDuinoNav::turnLeft(int turnDuration)
 {
   motors.setSpeeds(-TURN_SPEED, TURN_SPEED);
-  delay(TURN_DURATION);
+  delay(turnDuration);
 }
 
-void CurioDuinoNav::turnRight()
+void CurioDuinoNav::turnRight(int turnDuration)
 {
   motors.setSpeeds(TURN_SPEED, -TURN_SPEED);
-  delay(TURN_DURATION);
+  delay(turnDuration);
 }
 
 void CurioDuinoNav::goForward()

diff --git a/libraries/CurioDuinoNav/CurioDuinoNav.h b/libraries/CurioDuinoNav/CurioDuinoNav.h
@@ -23,7 +23,8 @@ class ZumoMotors;
 
 // Duration of movements
 #define REVERSE_DURATION  750 // ms
-#define TURN_DURATION  400
+#define EDGE_TURN_DURATION  440
+#define OBSTACLE_TURN_DURATION 340
 
 class CurioDuinoNav
 {
@@ -36,8 +37,8 @@ class CurioDuinoNav
 	// because Arduino constructors
 	// are not advised.
 	void begin();
-	void turnRight();
-	void turnLeft();
+	void turnRight(int turnDuration);
+	void turnLeft(int turnDuration);
 	void goForward();
 	void goReverse();
 	void stopMoving();