Diff: main.cpp

Revision:

7:f1bceb2bab70

Parent:

6:32d9b855b90f

Child:

8:a254346f20aa

--- a/main.cpp	Wed Nov 18 06:49:06 2015 +0000
+++ b/main.cpp	Wed Nov 18 07:02:53 2015 +0000
@@ -141,16 +141,17 @@
     else if(rLS > leftWall) //just left wall
     {
         leftDistance = rLS;
-        irError = lirOffset;//(2 * (lirOffset – leftDistance));
+        irError = 2*(lirOffset-leftDistance);//(2 * (lirOffset – leftDistance));
         
-        irErrorD = (irError – oldirError);
-    irErrorI += irError;
+        irErrorD=irError-oldirError;
+        
+        irErrorI += irError;
     }
     else if(rRS > rightWall)//just right wall
     {
-        rightDistance = rRS();
-        irError = (2 * (rightDistance – rirOffset));
-        irErrorD = (irError – oldirError);
+        rightDistance = rRS;
+        irError=(2*(rightDistance–rirOffset));
+        irErrorD=irError–oldirError;
     irErrorI += irError;
     }
     else if(rLS < leftWall && rRS < rightWall)//no walls!! Use encoder PID