Diff: LineFollower.cpp

Revision:

5:1c4c12596ad2

Parent:

4:2abe380c57f1

Child:

6:3482f3f93988

--- a/LineFollower.cpp	Fri Feb 28 04:21:26 2014 +0000
+++ b/LineFollower.cpp	Thu Mar 06 02:21:23 2014 +0000
@@ -36,77 +36,76 @@
     void LineFollower::followLine(Motor l, Motor r){
            int count = 0;
            for(int i = 0; i<8; i++){
-                count += (array&(1<<0))?1:0;  
+                count += (array&(1<<0))?0:1;  
             }
             
             switch(count){
                 
-                case 1: if(this->read() == 0x80){
+                case 1: if(this->read() == 0x7F){
                             l.speed(-(0.75 * MAXSPEED));
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0x01){
+                        else if(this->read() == 0xFE){
                             l.speed(MAXSPEED);
                             r.speed(-(0.75 * MAXSPEED));
                         }
                         break;
                         
-                case 2: if(this->read() == 0x18){
+                case 2: if(this->read() == 0xE7){
                             l.speed(MAXSPEED);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0xC0){
+                        else if(this->read() == 0x3F){
                             l.speed(-(0.5 * MAXSPEED));
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0x03){
+                        else if(this->read() == 0xFC){
                             l.speed(MAXSPEED);
                             r.speed(-(0.5 * MAXSPEED));
                         }
-                        else if(this->read() == 0x60){
+                        else if(this->read() == 0x9F){
                             l.speed(0);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0x06){
+                        else if(this->read() == 0xF9){
                             l.speed(MAXSPEED);
                             r.speed(0);
                         }
-                        else if(this->read() == 0x30){
+                        else if(this->read() == 0xCF){
                             l.speed(0.5*MAXSPEED);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0x0C){
+                        else if(this->read() == 0xF3){
                             l.speed(MAXSPEED);
                             r.speed(0.5*MAXSPEED);
                         }
                         break;
                         
-                case 3: if(this->read() == 0xE0){
+                case 3: if(this->read() == 0x1F){
                             l.speed(-(0.25*MAXSPEED));
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0x07){
+                        else if(this->read() == 0xF8){
                             l.speed(MAXSPEED);
                             r.speed(-(0.25*MAXSPEED));
                         }
-                        else if(this->read() == 0x70){
+                        else if(this->read() == 0x8F){
                             l.speed(0.25*MAXSPEED);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0x0E){
+                        else if(this->read() == 0xF1){
                             l.speed(MAXSPEED);
                             r.speed(0.25*MAXSPEED);
                         }
-                        else if(this->read() == 0x38){
+                        else if(this->read() == 0xC7){
                             l.speed(0.5*MAXSPEED);
                             r.speed(MAXSPEED);
                         }
-                        else if(this->read() == 0x1C){
+                        else if(this->read() == 0xE3){
                             l.speed(MAXSPEED);
                             r.speed(0.5*MAXSPEED);
                         }
                         break;
               default:  break;
             }
-        
     }
\ No newline at end of file