EE149 / Mbed 2 deprecated FinalProject

Final Project files for mBed development.

Dependencies:   m3pi mbed

Diff: main.c

Revision:
35:a1c14c6d9282
Parent:
34:3066686d5152
Child:
37:1d51cf101b03
--- a/main.c	Wed Dec 10 18:49:45 2014 +0000
+++ b/main.c	Wed Dec 10 19:15:52 2014 +0000
@@ -95,9 +95,11 @@
     }
     right(180);
     timerWait(.2);
+    int wiggle_count = 0;
     
-    while(fabs(pos = pi.line_position()) > CLOSE_ENOUGH) {
-        pi.right((pos < 0 ? -.6*.5*CAL_SPEED : .6*.5*CAL_SPEED));
+    for(    ; fabs(pos = pi.line_position()) > CLOSE_ENOUGH 
+            && wiggle_count < WIGGLE_MAX; wiggle_count++) {
+        pi.right((pos < 0 ? -.6*.4*CAL_SPEED : .6*.4*CAL_SPEED));
         pi.cls();
         pi.locate(0,0);
         pi.printf("O: %f", pos);