Revision 2:35bc9b7f5756, committed 2019-04-23

Comitter:

m215910

Date:

Tue Apr 23 15:45:32 2019 +0000

Parent:

1:66d0178e8f40

Commit message:

changes still not right

Changed in this revision

diff -r 66d0178e8f40 -r 35bc9b7f5756 main.cpp
--- a/main.cpp	Tue Apr 23 15:10:54 2019 +0000
+++ b/main.cpp	Tue Apr 23 15:45:32 2019 +0000
@@ -10,7 +10,7 @@
 
 //speed
 float wL, wR;
-float x = 0.2, y = 0.2, dist, realdist;
+float x = 0.2, y = -0.2, dist, realdist;
  
 ContinuousServo left(p23);
 ContinuousServo right(p26);
@@ -29,9 +29,7 @@
     while(1) {
         
         left.speed(x);
-        right.speed(-y); //right negative to go forward
-        x = x;
-        y = y;
+        right.speed(y); //right negative to go forward
         
         wL = tleft.getSpeed(); //speed of left wheel (rev/sec)
         wR = tright.getSpeed(); //speed of right wheel (rev/sec)
@@ -39,23 +37,24 @@
         realdist = dist/0.00277;
             
         if (wL<wR) {
-            x = x+0.03;
+            x = x+0.01;
             y = y; }
         else if (wR<wL) {
-            x = x;
-            y = y+0.03;}
+            x = x-0.01;
+            y = y;}
         else if (wR == wL) {
             x = x;
             y = y;}
-        else if ((x || y) > 0.2) {
-            x = 0.2;
+            
+        if ((x > 0.3) || (y < -0.3)) {
+            x = 0.3;
             y = y;}
             
         if (realdist <= 8) {
             left.stop();
             right.stop();
             }   
-        pc.printf("%f, %f\n %f\n %f %f\n", wL, wR, realdist, x, y);
+        pc.printf("%f, %f, %f, %f, %f\n", wL, wR, realdist, x, y);
         
         wait(.2);