Breakthrough!!
After getting rather frustrated by the code not operating as I thought it should.
Well I spent a good hour just line by line inspecting the code and making sure I totally understand what I was asking it to do. I removed about 120 lines of code that was essentially redundant, which also compounded the if else statements making them rather complicated. So here it is in a working format. Some very small things need some tweaks, and I am still researching switch cases to lay the code out better.
So check it out, working wall avoidance on pitch axis and roll axis. I am only using 4 ultrasonic sensors to prove the concept.
Version 1.06 Beta working
After getting rather frustrated by the code not operating as I thought it should.
Well I spent a good hour just line by line inspecting the code and making sure I totally understand what I was asking it to do. I removed about 120 lines of code that was essentially redundant, which also compounded the if else statements making them rather complicated. So here it is in a working format. Some very small things need some tweaks, and I am still researching switch cases to lay the code out better.
So check it out, working wall avoidance on pitch axis and roll axis. I am only using 4 ultrasonic sensors to prove the concept.
Version 1.06 Beta working
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