Diff: main.cpp

Revision:

3:4dcf81584894

Parent:

2:b8a033375c27

Child:

4:806d9d971c26

--- a/main.cpp	Thu May 12 12:51:37 2016 +0000
+++ b/main.cpp	Thu May 12 13:16:33 2016 +0000
@@ -77,17 +77,17 @@
             // Control algorithm
             DC = (0.9841*old_DC) + (0.2348*E) - (0.2335*old_E);
             old_E  = E;
-            m.speed(DC+0.15);
+           // m.speed(DC+0.15);
             old_DC = DC;
 
             if(DC>0 && DC<0.7)
-                m.speed(DC+0.1);
-            if(E>-1.0)
+                m.speed(DC+0.4);
+            if(E<-1.0)
                 m.speed(DC+0.15);
             if (E<0.015 && E>-0.01)
                 m.speed(0.0);
             else if(DC<0 && DC>-0.7) {
-                m.speed(DC-0.34);
+                m.speed(DC-0.8);
                 if(E>-1.0)
                     m.speed(DC-0.5);
                 if (E>-0.015&& E<0.01)