Mouse code for the MacroRat
Diff: main.h
- Revision:
- 44:85bf2c0cd518
- Parent:
- 43:f22168a05c3e
- Child:
- 46:b156ef445742
--- a/main.h Sun May 28 10:09:56 2017 +0000 +++ b/main.h Fri Jun 02 18:50:51 2017 +0000 @@ -173,18 +173,18 @@ //#define ID_CONSTANT 7.55 const int desiredCount180 = 3120; // change accordingly to the terrain -const int desiredCountR = 1390; -const int desiredCountL = 1475; +const int desiredCountR = 1340; +const int desiredCountL = 1455; 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! +const int oneCellCountMomentum = 4578;//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; double receiverThreeReading = 0.0; double receiverFourReading = 0.0; -const double frontStop = 7.9; +const double frontStop = 8.35; const double LRAvg = 3.5; float ir1base = 0.0; @@ -272,7 +272,7 @@ while(1) { - if(!(abs(error0) < 2) && !(abs(error1) < 2)) { + if(!(abs(error0) < 4) && !(abs(error1) < 4)) { count0 = encoder0.getPulses(); count1 = encoder1.getPulses();