Diff: functions.cpp

Revision:

30:8a5570b2de68

Parent:

27:96a0ff2f474c

Child:

33:4d0fe8fbed68

--- a/functions.cpp	Sun Jun 07 17:34:17 2015 +0000
+++ b/functions.cpp	Sun Jun 07 18:35:04 2015 +0000
@@ -21,8 +21,8 @@
 
 // Setting pins for motor, as follows:
 // Example: Motor____(PWM, Forward, Reverse)
-Motor MotorLeft(p23, p27, p28);
-Motor MotorRight(p22, p30, p29);
+Motor MotorRight(p23, p27, p28);
+Motor MotorLeft(p22, p30, p29);
 
 // Setting pins for ultrasonic sensor, as follows:
 // Example: usensor(Trigger, Echo)
@@ -140,10 +140,10 @@
     }
 }
 
-void reverse(float speed) {
+void reverse(float speed, float adj) {
     //printf("Reverse\n");
     MotorLeft.speed(-(speed));
-    MotorRight.speed(-(speed));
+    MotorRight.speed(-(speed)-adj);
 }
 
 void turn(float speed) {
@@ -158,9 +158,9 @@
     MotorRight.speed(-(speed-0.1));
 }
 
-void move_forward(float speed) {
+void move_forward(float speed, float adj) {
     MotorLeft.speed(speed);
-    MotorRight.speed(speed);
+    MotorRight.speed(speed+adj);
 }
 
 void move_random(float speed)
@@ -216,7 +216,7 @@
     dist = 0;
     reverse = 0;
     
-    while (usensor_t.read_ms() < 15000) {
+    while (usensor_t.read_ms() < 10000) {
         // Start the ultrasonic sensor
         usensor.start();
         inner_t.start();
@@ -270,14 +270,14 @@
         if(detect == 1) {
             stop();
             turn_leds_on();
-            move_detect(-moveforwardspeed,1,1000,300);
+            move_detect(-forwardspeed,1,1000,300);
             stop();
             break;
         // If line is detected from back just keep on moving forward
         } else if (detect == -1) {
             stop();
             turn_leds_on();
-            move_detect(moveforwardspeed,1,1000,300);
+            move_detect(forwardspeed,1,1000,300);
             stop();
             break;
         }