hello
Dependencies: AVEncoder QEI mbed-src-AV
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