floating point for target speed; blocking options

src/Chassis.cpp

@@ -77,7 +77,7 @@ void Chassis::setTwist(float forwardSpeed, float turningSpeed)
     rightMotor.setTargetSpeed(ticksPerIntervalFwd + ticksPerIntervalTurn);
 }
 
-void Chassis::driveFor(float forwardDistance, float forwardSpeed)
+void Chassis::driveFor(float forwardDistance, float forwardSpeed, bool block)
 {
     // ensure the speed and distance are in the same direction
     forwardSpeed = forwardDistance > 0 ? fabs(forwardSpeed) : -fabs(forwardSpeed);
@@ -96,7 +96,7 @@ void Chassis::driveFor(float forwardDistance, float forwardSpeed)
     }
 }
 
-void Chassis::turnFor(float turnAngle, float turningSpeed, bool block = false)
+void Chassis::turnFor(float turnAngle, float turningSpeed, bool block)
 {
     // ensure angle and speed are in the same direction
     turningSpeed = turnAngle > 0 ? fabs(turningSpeed) : -fabs(turningSpeed);
@@ -125,7 +125,7 @@ bool Chassis::checkMotionComplete(void)
  * ISR for timing. On overflow of Timer4, the ISR takes a 'snapshot' of the encoder counts 
  * and then raises a flag to let the main program know it is time to execute the PID calculations.
  * 
- * Do not edit this function -- adding length function calls will cause headaches.
+ * Do not edit this function -- adding lengthy function calls will cause headaches.
  * */
 ISR(TIMER4_OVF_vect)
 {

src/Chassis.h

@@ -95,7 +95,7 @@ class Chassis
     bool checkMotionComplete(void);
 
     void printSpeeds(void);
-    void Chassis::printEncoderCounts(void);
+    void printEncoderCounts(void);
 
     inline void updateEncoderDeltas();
 };

src/Romi32U4Motors.cpp

@@ -106,7 +106,7 @@ void Romi32U4Motor::allowTurbo(bool turbo)
 /**
  * update() must be called regularly to update the control signals sent to the motors.
  * */
-void Romi32U4Motor::update(void)
+void Romi32U4Motor::update(void) 
 {
     if(ctrlMode == CTRL_SPEED || ctrlMode == CTRL_POS)
     {
@@ -118,7 +118,7 @@ void Romi32U4Motor::update(void)
 /**
  * Sets the target speed in "encoder ticks/16 ms interval"
  * */
-void Romi32U4Motor::setTargetSpeed(int16_t target)
+void Romi32U4Motor::setTargetSpeed(float target)
 {
     targetSpeed = target;
 

src/Romi32U4Motors.h

@@ -33,7 +33,7 @@ class Romi32U4Motor
    volatile int16_t speed = 0;
 
    // used to set target speed or position (or both)
-   int16_t targetSpeed = 0;
+   float targetSpeed = 0;
    int16_t targetPos = 0;
 
    // Maximum effort (to protect the gear boxes). Can be changed by setting turbo mode
@@ -93,8 +93,8 @@ class Romi32U4Motor
    int16_t getCount(void);
    int16_t getAndResetCount(void);
 
-   void setTargetSpeed(int16_t targetSpeed);
-   void moveFor(int16_t amount);//, int16_t speed);
+   void setTargetSpeed(float targetSpeed);
+   void moveFor(int16_t amount);
    bool checkComplete(void) {return ctrlMode == CTRL_DIRECT;}
 
    void update(void);