twbf / arduino Goto Github PK

• Function potentially returns negative values, which need to be filtered out in a non-damaging way.
• Function potentially returns zero, which may be damaging (divide by zero).
• Function needs to be calibrated for accuracy, potentially with configuration values.
• Function uses ultraSensor.distanceCm() as a source, which likely returns spurious values that we could potentially filter out as noise.

Semi-related question: Are our units of measurement centimeters? If so, I would not mind converting to millimeters.

It is concerning that we still do not know (in code) whether we are turning left or right when we turn. We know that we are turning and that one direction is not the other (meaning that we can consistently turn in the same direction should we wish to), but we do not know which is which because it is dependent upon which pin is connected to which motor, which is unrecoverable by the code and not described in code anywhere (although we pretend it is, accepting that it might be wrong).

I think we should handle this by changing the referenced Objects ...

//objects used
MeUltrasonicSensor ultraSensor(3); //Object used from MeMCore
MeDCMotor motor_9(9); //Objects used from MeMCore
MeDCMotor motor_10(10);

... to take values based on a configuration setting (or more likely, settings).

I believe this would have to take a form like ...

// hardware configuration
#define ultrasonicsensor_pin 3
#define leftdcmotor_pin 9 
#define rightdcmotor_pin 10