Diff: main.cpp

Revision:

2:a681e7e4bd72

Parent:

1:9eb8d4e6a719

--- a/main.cpp	Fri Apr 24 02:02:48 2015 +0000
+++ b/main.cpp	Mon Apr 27 01:17:48 2015 +0000
@@ -2,8 +2,8 @@
 #include "TCS3472_I2C.h"        //includes the library for the RGB sensor
 #include "Motor.h"
 AnalogIn sonic(p15);
-Motor R(p24, p25, p26);
-Motor L(p21, p22, p23);
+Motor R(p26, p30, p29);
+Motor L(p25, p27, p28);
 
 float data;         //ULTRASONIC SENSOR
 float sum;
@@ -53,18 +53,18 @@
                 if ( (abs((1.6822*red + 15.609)-light) < 10) && (abs((4.2525*green - 37.993)-light) < 10) && (abs((6.5565*blue - 44.793 )-light) < 10) ) {
                     colorcount[0] += 1;     //car is in red
                     L.speed(0.0);
-                    R.speed(0.2);
+                    R.speed(0.37);
                 }
 
                 if ( (abs((3.7757*red - 134.86)-light) < 10) && (abs((3.4282*green - 8.791 )-light) < 10) && (abs((2.5685*blue + 63.205)-light) < 10) ) {
                     colorcount[1] += 1;     //car is in blue
-                    R.speed(0.5);
-                    L.speed(0.5);
+                    R.speed(0.4);
+                    L.speed(-0.45);
                 }
 
                 if ( (abs((3.8225*red - 138.09)-light) < 10) && (abs((2.1032*green + 39.654)-light) < 10) && (abs((5.3619*blue - 2.7884)-light) < 10) ) {
                     colorcount[2] += 1;     //car is in green
-                    L.speed(0.2);
+                    L.speed(-0.37);
                     R.speed(0.0);
                 }
             }
@@ -83,7 +83,7 @@
         }
         if ((average> 0.014) && (average < 0.026)) {
 
-            L.speed(0.2);
+            L.speed(-0.2);
             R.speed(0.2);
             printf("%f \n",average);
         }