Diff: Robot.h

Revision:

11:78c645fb76cd

Parent:

10:acf5cb8d58d5

Child:

12:11d203351eb0

--- a/Robot.h	Sun Apr 28 18:27:46 2019 +0000
+++ b/Robot.h	Sun Apr 28 22:20:28 2019 +0000
@@ -143,58 +143,45 @@
         {
         case 0:
             lineVoltages[lvIndex%numberOfSamples] = (reading * -260.0f); 
-            if (reading <= Reflec*12){endOfLineDetection++;}
+            if (reading <= Reflec*8){endOfLineDetection++;}
             break;
         case 1:
             lineVoltages[lvIndex%numberOfSamples] += (reading * -105.0f);
-            if (reading <= Reflec*12) {endOfLineDetection++;}
+            if (reading <= Reflec*8) {endOfLineDetection++;}
             break;
         case 2:
             lineVoltages[lvIndex%numberOfSamples] += (reading * -32.5f);
-            if (reading <= Reflec*12) {endOfLineDetection++;}
+            if (reading <= Reflec*8) {endOfLineDetection++;}
             break;
         case 3:
             lineVoltages[lvIndex%numberOfSamples] += (reading * 32.5f);
-            if (reading <= Reflec*12) {endOfLineDetection++;}
+            if (reading <= Reflec*8) {endOfLineDetection++;}
             break;
         case 4: 
             lineVoltages[lvIndex%numberOfSamples] += (reading * 75.0f);
-            if (reading <= Reflec*12) {endOfLineDetection++;}
+            if (reading <= Reflec*8) {endOfLineDetection++;}
             break;
         case 5:
             lineVoltages[lvIndex%numberOfSamples] += (reading * 175.0f);
-            if (reading <= Reflec*12) {endOfLineDetection++;}
+            if (reading <= Reflec*8) {endOfLineDetection++;}
             break;
         }
                 
         sensorNumber ++;
-            
         if (sensorNumber >= numberOfSensors)
         {
             sensorNumber = 0;
             if (endOfLineDetection < 6)
             {
                 //AF = scaler(-180.0f,180.0f, 0.2f, 1.0f, lineVoltages[lvIndex%numberOfSamples]);
-                leftWheel->setBR(0);
-                rightWheel->setBR(0);
                 AF = 0.7f;
                 adjustRbtAngularVelocity(lineVoltages[lvIndex%numberOfSamples]);
                 lvIndex++;
-                brakeC = 0;
             }
-            else if (brakeC < 8)
+            else
             {
-                leftWheel->setBR(1);
-                rightWheel->setBR(1);
-                leftWheel->brake();
-                rightWheel->brake();
-                brakeC ++;
-            }else {
-                leftWheel->setBR(0);
-                rightWheel->setBR(0);
-                AF = 0.0f;
-                stopMovement();
-                }
+               stopMovement(); 
+            }
         endOfLineDetection = 0;
         }
     }