Diff: functions.h

Revision:

30:8a5570b2de68

Parent:

27:96a0ff2f474c

Child:

37:a08d2e37b7e6

--- a/functions.h	Sun Jun 07 17:34:17 2015 +0000
+++ b/functions.h	Sun Jun 07 18:35:04 2015 +0000
@@ -1,9 +1,17 @@
 // Header file for functions.cpp
 
+// Speed adjustment to take into account different motor speeds
+// Changes speed of left motor
+#define ADJUSTMENT 0.1
+
 // Global parameters
-// Speed at which it move_forwards an object
+// Speed at which it moves forward
 // optimum value: 0.4 to 0.8
-extern float moveforwardspeed;
+extern float forwardspeed;
+// Global parameters
+// Speed at which it reverses
+// optimum value: 0.4 to 0.6
+extern float reversespeed;
 // Speed at which it rotates to find an object
 // optimum value: 0.3 to 0.5
 extern float searchspeed;
@@ -11,6 +19,8 @@
 // optimum value: 30 to 50
 extern unsigned int range;
 
+
+
 void flash_leds();
 void turn_leds_on();
 void turn_led_right();
@@ -18,11 +28,11 @@
 int read_line1();
 int read_line2();
 int detect_line();
-void move_random(float speed=moveforwardspeed);
-void reverse(float speed = moveforwardspeed);
-void turn(float speed = moveforwardspeed);
-void reverse_and_turn(float speed = moveforwardspeed);
-void move_forward(float speed = moveforwardspeed);
+void move_random(float speed = forwardspeed);
+void reverse(float speed = reversespeed, float adj = ADJUSTMENT);
+void turn(float speed = forwardspeed);
+void reverse_and_turn(float speed = reversespeed);
+void move_forward(float speed = forwardspeed, float adj = ADJUSTMENT);
 void stop();
-int detect_object(int range_t = range, float speed = moveforwardspeed);
+int detect_object(int range_t = range, float speed = searchspeed);
 void move_detect(float speed, int fwd_bck, int time, int wait=0);
\ No newline at end of file