Diff: main.cpp

Revision:

15:55e9fffc653a

Parent:

14:888495814f3c

Child:

16:79106efd7a57

--- a/main.cpp	Thu Apr 09 21:05:01 2015 +0000
+++ b/main.cpp	Fri Apr 10 00:35:16 2015 +0000
@@ -25,7 +25,7 @@
 float maxCount;
 float approxPos;
 float prevApproxPos;
-int trackWindow = 10;
+int trackWindow = 30;
 int startWindow;
 int endWindow;
 float maxVal;
@@ -42,14 +42,14 @@
 
 //Line Crossing variables
 int prevTrackLoc;
-int spaceThresh = 2;
+int spaceThresh = 1;
 int widthThresh = 10;
 bool space;
 
 //Servo turning parameters
 float straight = 0.00155f;
 float hardLeft = 0.0011f;
-float hardRight = 0.00185f;
+float hardRight = 0.0021f;
 //float hardLeft = 0.0010f;
 //float hardRight = 0.00195f;
 
@@ -88,7 +88,7 @@
 int numInterrupts = 0;
 
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~PWM & Integration Time ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-float pulsewidth = 0;
+float pulsewidth = 0.14f;
 int intTimMod = 0;
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 // Hardware periods
@@ -316,7 +316,7 @@
 
     // Servo Initialization
     servo.period(servoPeriod);
-    
+    servo.pulsewidth(hardRight);
     wait(3);
 
     motor1.pulsewidth(motorPeriod*pulsewidth);
@@ -384,10 +384,10 @@
                 }
                 
                 for (int c = 10; c < 118; c++) {
-                        if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < 0.025f){
+                        if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < 0.007f){
                             maxAccum += c;
                             maxCount++;
-                            if (c > prevTrackLoc + spaceThresh){
+                            if (c > prevTrackLoc + spaceThresh || maxCount > widthThresh){
                                 space = true;
                             }
                             prevTrackLoc = c;
@@ -414,15 +414,12 @@
                 }
                 
                 for (int c = startWindow; c < endWindow; c++) {
-                    if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < 0.025f){
+                    if (ADCdata[c] <= maxVal && maxVal - ADCdata[c] < 0.007f){
                         maxAccum += c;
                         maxCount++;
-                        if (c > prevTrackLoc + spaceThresh){
+                        if (c > prevTrackLoc + spaceThresh || maxCount > widthThresh){
                             space = true;
                         }
-                        if (maxCount > 60){
-                            firstTime = true;
-                        }
                         prevTrackLoc = c;
                     }
                 }
@@ -441,13 +438,9 @@
             //Line Crossing Checks
             if (space) {
                 currDir = prevDir;
-                //firstTime = true;
+                firstTime = true;
             } else {
-                approxPos = (float)maxAccum/(float)maxCount - 10;
-
-                if (approxPos < 0){
-                    approxPos = 0;
-                }
+                approxPos = (float)maxAccum/(float)maxCount;
 
                 if(dataCol){
                     if(loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime%3==0){
@@ -457,7 +450,7 @@
                     }
                 }
                 
-                currDir = hardLeft + (approxPos - 10)/((float) 108)*(hardRight-hardLeft);
+                currDir = hardLeft + (approxPos)/((float) 127)*(hardRight-hardLeft);
                 prevApproxPos = approxPos;
 
             }