Diff: main.h

Revision:

33:68ce1f74ab5f

Parent:

32:69acb14778ea

Child:

35:a5bd9ef82210

--- a/main.h	Fri May 26 03:46:03 2017 +0000
+++ b/main.h	Fri May 26 06:23:19 2017 +0000
@@ -170,22 +170,18 @@
 //#define IP_CONSTANT 8.2
 //#define II_CONSTANT 0.06
 //#define ID_CONSTANT 7.55
- 
-#define IP_CONSTANT 0.25
-#define II_CONSTANT 0
-#define ID_CONSTANT 0.00
 
-const int desiredCount180 = 2870;
+const int desiredCount180 = 3000;   // change accordingly to the terrain
 const int desiredCountR = 1700;
 const int desiredCountL = 1700;
  
 const int oneCellCount = 5400;
-const int oneCellCountMomentum = 4550;//4800;      // one cell count is actually approximately 5400, but this value is considering momentum!
+const int oneCellCountMomentum = 4570;//4800;      // one cell count is actually approximately 5400, but this value is considering momentum!
  
-float receiverOneReading = 0.0;
-float receiverTwoReading = 0.0;
-float receiverThreeReading = 0.0;
-float receiverFourReading = 0.0;
+double receiverOneReading = 0.0;
+double receiverTwoReading = 0.0;
+double receiverThreeReading = 0.0;
+double receiverFourReading = 0.0;
 
 float ir1base = 0.0;
 float ir2base = 0.0;
@@ -206,7 +202,7 @@
 inline void turnLeft()
 {
     double speed0 = 0.11;
-    double speed1 = -0.13;
+    double speed1 = -0.12;    // change back to 0.13 if turns stop working, testing something out!
  
     int counter = 0;
     int initial0 = encoder0.getPulses();
@@ -254,7 +250,7 @@
 inline void turnRight()
 {
     double speed0 = -0.11;
-    double speed1 = 0.13;
+    double speed1 = 0.12;     // change back to 0.13 if turns stop working, testing something out!
  
     int counter = 0;
     int initial0 = encoder0.getPulses();
@@ -297,57 +293,10 @@
     turnFlag = 0;
     currDir += 1;
 }
- 
-inline void turnLeft180()
-{
-    double speed0 = 0.15;
-    double speed1 = -0.15;
- 
-    int counter = 0;
-    int initial0 = encoder0.getPulses();
-    int initial1 = encoder1.getPulses();
- 
-    int desiredCount0 = initial0 - desiredCountL*2;
-    int desiredCount1 = initial1 + desiredCountL*2;
- 
-    int count0 = initial0;
-    int count1 = initial1;
- 
-    double error0 = count0 - desiredCount0;
-    double error1 = count1 - desiredCount1;
- 
- 
-    while(1) {
-    
-        if(!(abs(error0) < 1) && !(abs(error1) < 1)) {
-            count0 = encoder0.getPulses();
-            count1 = encoder1.getPulses();
- 
-            error0 = count0 - desiredCount0;
-            error1 = count1 - desiredCount1;
- 
-            right_motor.move(speed0);
-            left_motor.move(speed1);
-            counter = 0;
-        } else {
-            counter++;
-            right_motor.brake();
-            left_motor.brake();
-        }
- 
-        if (counter > 60) {
-            break;
-        }
-    }
- 
-    right_motor.brake();
-    left_motor.brake();
-    currDir -= 2;
-}
- 
+
 inline void turnRight180()
 {
-    double speed0 = -0.16;
+    double speed0 = -0.15;
     double speed1 = 0.16;
  
     int counter = 0;