Diff: main.cpp

Revision:

7:b866e3aae05f

Parent:

6:61b503990cd6

Child:

8:03e5c3aaa9c9

--- a/main.cpp	Thu Dec 03 01:26:44 2015 +0000
+++ b/main.cpp	Fri Dec 04 02:51:37 2015 +0000
@@ -66,11 +66,21 @@
 
 const float enco_propo = 6;
 const float enco_integ = 10;//1;
-const float enco_deriv =800;//.0002;
+const float enco_deriv = 1000;//.0002;
 
 const float spin_enco_weight = 1;
 const float spin_gyro_weight = 1 - spin_enco_weight;
 
+const float base_RS = 0.2;
+const float base_LS = 0.1;
+const float base_RF = 0.002;
+const float base_LF = 0.15;
+
+const float thresh_LF = 0.25;
+const float thresh_RF = 0.0045; // TODO: CAUTION USING THIS ALONE. 
+//
+//const float
+
 const float frontWall = 0.07; //need to calibrate this threshold to a value where mouse can stop in time
 const float open_left = 0.20;
 const float open_right = 0.17;
@@ -290,7 +300,7 @@
         eLF = 1;
         float left = rLF.read();
         eLF = 0;
-        if(left > frontWall || right > frontWall)
+        if(left > thresh_LF || right > thresh_RF )
         {
             mouse_state = STOPPED;
             wall_in_front = 1; //handler for this condition sets back to zero
@@ -432,13 +442,25 @@
 //        
 //        pc.printf("left pulss %f, right pulses %f \r\n", l_enco.getPulses(), r_enco.getPulses());
 //        //wait(1);
-        /*eLS = 1;
-        eRS = 1;
+        //wait(1);
+        /*eRS = 1;
+        wait_us(50);
         float right_side = rRS.read();
+        eRS = 0;
+        eLS = 1;
+        wait_us(50);
         float left_side = rLS.read();
-        pc.printf("right side IR %f, left side IR %f \r\n", right_side, left_side);
         eLS = 0;
-        eRS = 0;*/
+        eRF = 1;
+        wait_us(50);
+        float right_front = rRF.read();
+        eRF = 0;
+        eLF = 1;
+        wait_us(50);
+        float left_front = rLF.read();
+        eLF = 0;
+        pc.printf("right side: %f, left side: %f right_front: %f, left_front: %f \r\n", right_side, left_side, right_front, left_front);
+        wait(1);*/
     }
   //  pc.printf("left pulses %d, right pulses %d \r\n", l_enco.getPulses(), r_enco.getPulses());    //encoder testing 
         //wait(1);