Diff: main.h

Revision:

37:3dcc95e9321c

Parent:

36:9c4cc9944b69

Child:

38:fe05f93009a2

--- a/main.h	Sat May 27 02:40:10 2017 +0000
+++ b/main.h	Sat May 27 03:37:24 2017 +0000
@@ -172,12 +172,12 @@
 //#define II_CONSTANT 0.06
 //#define ID_CONSTANT 7.55
 
-const int desiredCount180 = 3200;   // change accordingly to the terrain
+const int desiredCount180 = 3400;   // change accordingly to the terrain
 const int desiredCountR = 1600;
 const int desiredCountL = 1590;
  
 const int oneCellCount = 5400;
-const int oneCellCountMomentum = 4800;//4570 (.15) speed;//4800;      // one cell count is actually approximately 5400, but this value is considering momentum!
+const int oneCellCountMomentum = 4900;//4570 (.15) speed;//4800;      // one cell count is actually approximately 5400, but this value is considering momentum!
  
 double receiverOneReading = 0.0;
 double receiverTwoReading = 0.0;
@@ -198,7 +198,7 @@
     double speed0 = 0.11;
     double speed1 = -0.12;    // change back to 0.13 if turns stop working, testing something out!
  
-    double kp = 0.000085;
+    double kp = 0.000080;
  
     int counter = 0;
     int initial0 = encoder0.getPulses();
@@ -221,9 +221,7 @@
             
             error0 = desiredCount0 - count0; // is negative
             error1 = desiredCount1 - count1; // is positive
- 
-            //serial.printf("%f, %f\n", error0, error1 );
- 
+  
             right_motor.move(error1*kp);
             left_motor.move(error0*kp);
             counter = 0;
@@ -232,7 +230,6 @@
             right_motor.brake();
             left_motor.brake();
         }
- 
         if (counter > 60) {
             break;
         }
@@ -274,8 +271,6 @@
             error0 = desiredCount0 - count0; // is positive
             error1 = desiredCount1 - count1; // is negative
  
-            //serial.printf("%f, %f\n", error0, error1 );
- 
             right_motor.move(error1*kp);
             left_motor.move(error0*kp);
             counter = 0;
@@ -284,7 +279,6 @@
             right_motor.brake();
             left_motor.brake();
         }
- 
         if (counter > 60) {
             break;
         }
@@ -298,8 +292,10 @@
 
 inline void turn180()
 {
-    double speed0 = -0.15;
-    double speed1 = 0.16;
+    double speed0 = -0.10;
+    double speed1 = 0.11;
+    
+    double kp = 0.000055;
  
     int counter = 0;
     int initial0 = encoder0.getPulses();
@@ -314,25 +310,23 @@
     double error0 = count0 - desiredCount0;
     double error1 = count1 - desiredCount1;
  
- 
     while(1) {
  
-        if(!(abs(error0) < 1) && !(abs(error1) < 1)) {
+        if(!(abs(error0) < 3) && !(abs(error1) < 3)) {
             count0 = encoder0.getPulses();
             count1 = encoder1.getPulses();
  
-            error0 = count0 - desiredCount0;
-            error1 = count1 - desiredCount1;
+            error0 = desiredCount0 - count0;
+            error1 = desiredCount1 - count1;
  
-            right_motor.move(speed0);
-            left_motor.move(speed1);
+            right_motor.move(error1*kp);
+            left_motor.move(error0*kp);
             counter = 0;
         } else {
             counter++;
             right_motor.brake();
             left_motor.brake();
         }
- 
         if (counter > 60) {
             break;
         }