E=MC / Mbed 2 deprecated coolcarsuperfast2

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Dependencies:   mbed MODSERIAL telemetry-master

Fork of coolcarsuperfast by Michael Romain

Diff: main.cpp

Revision:
17:28a1f9309fdb
Parent:
16:79106efd7a57
Child:
18:7941524e0d28
--- a/main.cpp	Sat Apr 11 00:33:05 2015 +0000
+++ b/main.cpp	Wed Apr 22 22:55:24 2015 +0000
@@ -40,7 +40,7 @@
 //Line Crossing variables
 int prevTrackLoc;
 int spaceThresh = 1;
-int widthThresh = 10;
+int widthThresh = 8;
 bool space;
 
 //Servo turning parameters
@@ -86,7 +86,7 @@
 
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~PWM & Integration Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 float pulsewidth = 0.20f;
-int intTimMod = 20;
+int intTimMod = 0;
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 bool turnSpeedControl = true;
 
@@ -413,7 +413,7 @@
                 }
                 
                 for (int c = startWindow; c < endWindow; c++) {
-                    if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < 0.01f){
+                    if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < 0.25f){
                         maxAccum += c;
                         maxCount++;
                         if (c > prevTrackLoc + spaceThresh || maxCount > widthThresh){
@@ -457,14 +457,14 @@
             if (turnSpeedControl){
                 //Change speed when turning at different angles
                 if(approxPos > 0 && approxPos <= 45){
-                        motor1.pulsewidth(motorPeriod*(pulsewidth*0.8f));
-                        motor2.pulsewidth(motorPeriod*(pulsewidth*0.8f));
+                        motor1.pulsewidth(motorPeriod*(pulsewidth*1.2f));
+                        motor2.pulsewidth(motorPeriod*(pulsewidth*1.2f));
                 } else if (approxPos > 45 && approxPos <= 95){
                         motor1.pulsewidth(motorPeriod*pulsewidth);
                         motor2.pulsewidth(motorPeriod*pulsewidth);
                 } else {
-                    motor1.pulsewidth(motorPeriod*(pulsewidth*0.8f));
-                    motor2.pulsewidth(motorPeriod*(pulsewidth*0.8f));
+                    motor1.pulsewidth(motorPeriod*(pulsewidth*1.2f));
+                    motor2.pulsewidth(motorPeriod*(pulsewidth*1.2f));
                 }
            }