/* update to move the car on boundary of the shop */

Author: basav-sketch

Basic_Development/Car_Control/3.0/CarControl.cpp

@@ -18,10 +18,10 @@
 CarControl* CarControl::instance = nullptr;
 
 const float speed_cm_per_sec_forward_backward = 26.0; // Car's speed in cm/s (30 dc motor speed)
-const float speed_deg_per_sec_turn = 47.0; // Car's turning speed in degrees per second 
+const float speed_deg_per_sec_turn = 50.0; // Car's turning speed in degrees per second 
 
 // Constructor is private to enforce singleton pattern
-CarControl::CarControl() : _motorAiPn1(5), _motorAPin2(13), _motorBPin1(26), _motorBPin2(16),
+CarControl::CarControl() : _motorAPin1(5), _motorAPin2(13), _motorBPin1(26), _motorBPin2(16),
                            _encoderPinA(20), _encoderPinB(21), _ppr(360), _wheelCircumference(31.4),
                            _xPos(0.0), _yPos(0.0), _heading(0.0), _pulseCountA(0), _pulseCountB(0),
                            _forwardBackwardSpeed(30), _turnSpeed(40) {
@@ -55,7 +55,7 @@ void CarControl::initialize() {
 void CarControl::setupServo() {
     _MS.begin(50);
     _servo = _MS.getServo(1);
-    _servo->writeServo(83); // Center servo position is 80 not 90 
+    _servo->writeServo(81); // Center servo position is 80 not 90 
 }
 
 // Setup DC motors
@@ -150,7 +150,7 @@ void CarControl::turnRight(int degrees, std::function<void()> callback) {
     std::this_thread::sleep_for(std::chrono::milliseconds(int(degrees / speed_deg_per_sec_turn * 1000)));
 
     if (_servo) {
-        _servo->writeServo(83); // Reset to center position after the turn
+        _servo->writeServo(81); // Reset to center position after the turn
     }
 
     stopDCMotors();
@@ -205,7 +205,7 @@ void CarControl::turnLeft(int degrees, std::function<void()> callback) {
     std::this_thread::sleep_for(std::chrono::milliseconds(int(degrees / speed_deg_per_sec_turn * 1000)));
 
     if (_servo) {
-        _servo->writeServo(83); // Reset to center position after the turn
+        _servo->writeServo(81); // Reset to center position after the turn
     }
 
     stopDCMotors();
@@ -251,4 +251,4 @@ float CarControl::getYPosition() const {
 // Get current heading
 float CarControl::getCurrentAngle() const {
     return _heading;
-}
+}

Basic_Development/Car_Control/3.0/main.cpp

@@ -19,7 +19,7 @@ int main() {
         car->initialize();
 
         //boundary of the shop
-    car->moveForward(155, []() {
+    car->moveForward(160, []() {
         std::cout << "Moved 180 cm forward.\n";
     });
 
@@ -31,19 +31,19 @@ int main() {
         std::cout << "Moved 100 cm forward.\n";
     });
 
-    car->turnRight(90, []() {
+    car->turnRight(87, []() {
         std::cout << "Turned right by 90 degrees.\n";
     });
 
-    car->moveForward(133, []() {
+    car->moveForward(130, []() {
         std::cout << "Moved 100 cm forward.\n";
     });
 
-    car->turnRight(90, []() {
+    car->turnRight(85, []() {
         std::cout << "Turned right by 90 degrees.\n";
     });
 
-    car->moveForward(57, []() {
+    car->moveForward(45, []() {
         std::cout << "Moved 100 cm forward.\n";
     });
 

src/qt/ssc_widget.cpp

@@ -343,8 +343,8 @@ void SSC_Widget::on_pushButton_3_clicked()
 void SSC_Widget::on_pushButton_4_clicked()
 {
     //boundary of the shop
-    carControl->moveForward(155, []() {
-        std::cout << "Moved 155 cm forward.\n";
+    carControl->moveForward(160, []() {
+        std::cout << "Moved 160 cm forward.\n";
     });
 
     carControl->turnRight(90, []() {
@@ -355,20 +355,20 @@ void SSC_Widget::on_pushButton_4_clicked()
         std::cout << "Moved 35 cm forward.\n";
     });
 
-    carControl->turnRight(90, []() {
+    carControl->turnRight(87, []() {
         std::cout << "Turned right by 90 degrees.\n";
     });
 
-    carControl->moveForward(133, []() {
-        std::cout << "Moved 133 cm forward.\n";
+    carControl->moveForward(130, []() {
+        std::cout << "Moved 130 cm forward.\n";
     });
 
-    carControl->turnRight(90, []() {
+    carControl->turnRight(85, []() {
         std::cout << "Turned right by 90 degrees.\n";
     });
 
-    carControl->moveForward(57, []() {
-        std::cout << "Moved 57 cm forward.\n";
+    carControl->moveForward(45, []() {
+        std::cout << "Moved 45 cm forward.\n";
     });
 
 /*  carControl->moveForward(100, []() {

src/sys/CarControl.cpp

@@ -55,7 +55,7 @@ void CarControl::initialize() {
 void CarControl::setupServo() {
     _MS.begin(50);
     _servo = _MS.getServo(1);
-    _servo->writeServo(83); // Center servo position is 80 not 90 
+    _servo->writeServo(81); // Center servo position is 80 not 90 
 }
 
 // Setup DC motors
@@ -150,7 +150,7 @@ void CarControl::turnRight(int degrees, std::function<void()> callback) {
     std::this_thread::sleep_for(std::chrono::milliseconds(int(degrees / speed_deg_per_sec_turn * 1000)));
 
     if (_servo) {
-        _servo->writeServo(83); // Reset to center position after the turn
+        _servo->writeServo(81); // Reset to center position after the turn
     }
 
     stopDCMotors();
@@ -205,7 +205,7 @@ void CarControl::turnLeft(int degrees, std::function<void()> callback) {
     std::this_thread::sleep_for(std::chrono::milliseconds(int(degrees / speed_deg_per_sec_turn * 1000)));
 
     if (_servo) {
-        _servo->writeServo(83); // Reset to center position after the turn
+        _servo->writeServo(81); // Reset to center position after the turn
     }
 
     stopDCMotors();