void Update()
{
//Read sensor values
float leftSensor = LeftLD.GetInvertedLinearOutput();
float rightSensor = RightLD.GetInvertedLinearOutput();
// strength
if (leftSensor < limiarMinimo)
{
leftSensor = limiarMinimo;
}
else if (leftSensor > limiarMaximo)
{
leftSensor = limiarMaximo;
}
if (rightSensor < limiarMinimo)
{
rightSensor = limiarMinimo;
}
else if (rightSensor > limiarMaximo)
{
rightSensor = limiarMaximo;
}
// read sensor values - blocks
float leftSensorBlock = LeftBD.GetLinearOutput();
float rightSensorBlock = RightBD.GetLinearOutput();
if (leftSensorBlock < limiarMinimo)
{
leftSensorBlock = limiarMinimo;
}
else if (leftSensorBlock > limiarMaximo)
{
leftSensorBlock = limiarMaximo;
}
if (rightSensorBlock < limiarMinimo)
{
rightSensorBlock = limiarMinimo;
}
else if (rightSensorBlock > limiarMaximo)
{
rightSensorBlock = limiarMaximo;
}
//Calculate target motor values
m_LeftWheelSpeed = ((leftSensor + leftSensorBlock) * MaxSpeed);
m_RightWheelSpeed = ((rightSensor + rightSensorBlock) * MaxSpeed);
// output
if (m_LeftWheelSpeed < limiteInferior)
{
m_LeftWheelSpeed = limiteInferior;
}
else if (m_LeftWheelSpeed > limiteSuperior)
{
m_LeftWheelSpeed = limiteSuperior;
}
if (m_RightWheelSpeed < limiteInferior)
{
m_RightWheelSpeed = limiteInferior;
}
else if (m_RightWheelSpeed > limiteSuperior)
{
m_RightWheelSpeed = limiteSuperior;
}
}
