int motorControl(double error_signal)
{
printf(" error signal: %f\n",error_signal);
int SPEED = 80;
double modSpeed;
//if too far left
if(error_signal < 0){
modSpeed = speedCheck(0, SPEED, SPEED-error_signal);
set_motor(2,SPEED);//right motor
set_motor(1,SPEED/2);//left motor
printf("Too far left!\n");
printf("Left motor: %d Right motor %d\n",SPEED, modSpeed);
}
//if too far right
else if(error_signal > 0){
modSpeed = speedCheck(0, SPEED, SPEED-error_signal);
set_motor(2,SPEED/2);
set_motor(1,SPEED);
printf("Too far right!\n");
printf("Left motor: %d Right motor %d\n", modSpeed, SPEED);
}
//if centered
else{
set_motor(1,SPEED);
set_motor(2,SPEED);
printf("Going straight\n");
}
return 0;
}
DownloadItem::DownloadItem(Video *video, QUrl url, QString filename, QObject *parent)
: QObject(parent)
, m_bytesReceived(0)
, m_startedSaving(false)
, m_finishedDownloading(false)
, m_url(url)
, m_file(filename)
, m_reply(0)
, video(video)
, m_status(Idle)
{
speedCheckTimer = new QTimer(this);
speedCheckTimer->setInterval(2000);
speedCheckTimer->setSingleShot(true);
connect(speedCheckTimer, SIGNAL(timeout()), SLOT(speedCheck()));
}
