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Refactured comments and implemented a bugfix for the PID controller

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id101010
2015-06-06 18:51:57 +02:00
parent 8c264c237a
commit a04cda9fc2
4 changed files with 76 additions and 60 deletions
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4
common/app/screen_tracking.c
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@@ -103,8 +103,8 @@ void tracking_our_update(void* tracking_config, struct Block* blocks, int num_bl
uint16_t x = blocks[0].x; // Get x coordinate of the biggest object
uint16_t y = blocks[0].y; // Get y coordinate of the biggest object
pixy_rcs_set_position(0, pixy_PID((FRAME_WIDTH / 2), x)); // track x
pixy_rcs_set_position(1, pixy_PID((FRAME_HEIGHT / 2), y)); // track y
pixy_rcs_set_position(0, pixy_PID_X((FRAME_WIDTH / 2), x)); // track x
pixy_rcs_set_position(1, pixy_PID_Y((FRAME_HEIGHT / 2), y)); // track y
}
//Variable which stores all the callbacks and settings for our tracking implementation