Diff: main.h

Revision:

38:fe05f93009a2

Parent:

37:3dcc95e9321c

Child:

39:058fb32c24e0

--- a/main.h	Sat May 27 03:37:24 2017 +0000
+++ b/main.h	Sat May 27 21:29:55 2017 +0000
@@ -172,12 +172,12 @@
 //#define II_CONSTANT 0.06
 //#define ID_CONSTANT 7.55
 
-const int desiredCount180 = 3400;   // change accordingly to the terrain
+const int desiredCount180 = 3380;   // change accordingly to the terrain
 const int desiredCountR = 1600;
-const int desiredCountL = 1590;
+const int desiredCountL = 1600;
  
 const int oneCellCount = 5400;
-const int oneCellCountMomentum = 4900;//4570 (.15) speed;//4800;      // one cell count is actually approximately 5400, but this value is considering momentum!
+const int oneCellCountMomentum = 5070;//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;
@@ -186,9 +186,7 @@
 
 float ir1base = 0.0;
 float ir2base = 0.0;
-
 float ir3base = 0.0;
-
 float ir4base = 0.0;
 
 float averageDivUpper = 0.5;
@@ -198,7 +196,7 @@
     double speed0 = 0.11;
     double speed1 = -0.12;    // change back to 0.13 if turns stop working, testing something out!
  
-    double kp = 0.000080;
+    double kp = 0.000082;
  
     int counter = 0;
     int initial0 = encoder0.getPulses();