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angle is directly set only if NOT in cruise control
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@platisd
platisd committed Dec 23, 2015
1 parent 3900f74 commit bff09f5
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion src/Car.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,7 @@ void Car::setDirection(const unsigned short direction){ //platform specific meth

void Car::setAngle(int angle){ //platform specific method
_angle = constrain(angle, MAX_LEFT_DEGREES - STRAIGHT_WHEELS, MAX_RIGHT_DEGREES - STRAIGHT_WHEELS); //constrain the value to the permitted valued the user is allowed to supply
setMotors(getSpeed(), getAngle()); //pass the human-readable value that was just supplied
if (!cruiseControlEnabled()) setMotors(getSpeed(), getAngle()); // if not in cruise control, apply the new angle directly
}

void Car::stop(){ //platform specific method
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The angle is directly set only if we are not currently in cruise control. If in cruise control, then we should just update the angle value (_angle) and wait for the control loop to set it accordingly, when it is time.

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