Diff: main.cpp

Revision:

30:8a5570b2de68

Parent:

29:977f47331d85

Child:

32:775eec44ba4f

--- a/main.cpp	Sun Jun 07 17:34:17 2015 +0000
+++ b/main.cpp	Sun Jun 07 18:35:04 2015 +0000
@@ -33,7 +33,7 @@
 //                          -1 - if line detected from the back
 //
 // reverse(speed)
-//                      -   reverses the robot with moveforwardspeed in same position
+//                      -   reverses the robot with forwardspeed in same position
 //
 // stop()
 //                      -   stops the robot
@@ -55,20 +55,27 @@
 //Serial pc(USBTX, USBRX);
 
 // Global parameters
-// Speed at which it move_forwards an object
-// optimum value: 0.4 to 0.8
-float moveforwardspeed;
-// Speed at which it rotates to find an object
-// optimum value: 0.3 to 0.5
+
+float forwardspeed;
+float reversespeed;
 float searchspeed;
-// Range of detection
-// optimum value: 30 to 50
 unsigned int range;
 
 void initialise()
 {
-    moveforwardspeed = 0.6;
+    // Each speed value can be set from 0 to 1
+    
+    // Speed at which it moves forward
+    // optimum value: 0.5 to 0.8
+    forwardspeed = 0.6;
+    // Speed at which it reverses
+    // optimum value: 0.4 to 0.6
+    reversespeed = 0.5;
+    // Speed at which it rotates to find an object
+    // optimum value: 0.4 to 0.6
     searchspeed = 0.5;
+    // Range of detection
+    // optimum value: 30 to 50
     range = 30;
 
     // Wait for 5 seconds to move away from robot
@@ -98,7 +105,7 @@
 
         if (detect_o == 1) {
 
-            move_forward(moveforwardspeed);
+            move_forward(forwardspeed);
 
             while (true) {
 
@@ -107,7 +114,7 @@
                 if(detect_l == 1 || detect_l == -1) {
                     stop();
                     turn_led_right();
-                    reverse(searchspeed);
+                    reverse(reversespeed);
                     wait(1.5);
                     detect_l = 0;
                     break;