Diff: main.h

Revision:

43:f22168a05c3e

Parent:

41:56a34315dd75

Child:

44:85bf2c0cd518

--- a/main.h	Sun May 28 06:50:22 2017 +0000
+++ b/main.h	Sun May 28 10:09:56 2017 +0000
@@ -172,11 +172,11 @@
 //#define II_CONSTANT 0.06
 //#define ID_CONSTANT 7.55
 
-const int desiredCount180 = 2900;   // change accordingly to the terrain
-const int desiredCountR = 1475;
-const int desiredCountL = 1495;
+const int desiredCount180 = 3120;   // change accordingly to the terrain
+const int desiredCountR = 1390;
+const int desiredCountL = 1475;
 
-const int oneCellCount = 5400;
+const int oneCellCount = 5480;
 const int oneCellCountMomentum = 4590;//4570 (.15) speed;//4800;      // one cell count is actually approximately 5400, but this value is considering momentum!
 
 double receiverOneReading = 0.0;
@@ -184,7 +184,7 @@
 double receiverThreeReading = 0.0;
 double receiverFourReading = 0.0;
 
-const double frontStop = 7.55;
+const double frontStop = 7.9;
 const double LRAvg = 3.5;
 
 float ir1base = 0.0;
@@ -255,7 +255,7 @@
     double speed1 = 0.12;     // change back to 0.13 if turns stop working, testing something out!
  
 //    double kp = 0.00009;
-    double kp = 0.0002;
+    double kp = 0.00015;
  
     int counter = 0;
     int initial0 = encoder0.getPulses();