Diff: main.cpp

Revision:

19:14b4b90bdf46

Parent:

16:be88d07a24fe

--- a/main.cpp	Thu Mar 19 16:59:37 2015 +0000
+++ b/main.cpp	Mon Mar 23 16:06:15 2015 +0000
@@ -47,12 +47,9 @@
     //all these values have to be global; this function gets called each time there's a new direction/desired speed
     a_ratio = hall_ldt/hall_rdt; //actual_ratio
     desired_ratio = desired_duty_l/desired_duty_r; //desired_duty comes from set_direction()
-    perc_r = (1-((desired_duty_r-0.1)/desired_duty_r));//absolute vlaue of +-0.1 duty means a differnt percentage error for each duty value
-    perc_l = (1-((desired_duty_l-0.1)/desired_duty_l));
-    perc_tot = perc_r + perc_l;
-    threshold = desired_ratio*perc_tot; //dynamic threshold that will change according to duties
-    limit = 0.2*((desired_duty_l + desired_duty_r)/2); //twenty percent of the average duty
-    inc_value = 0.05*((desired_duty_l + desired_duty_r)/2); //probably need to change 5% from testing
+    threshold = desired_ratio*0.1*((1/desired_duty_r) + (1/desired_duty_l)); //dynamic threshold that will change according to duties
+    limit = 0.05*((desired_duty_r/desired_duty_l) + (desired_duty_l/desired_duty_r) + 1); //5% of (ratio of duties and inverse ratio of duties + offset(1) )
+    inc_value = 0.25*limit; 
 }
 void set_direction( int direction, float duty_l, float duty_r)
 {
@@ -214,7 +211,7 @@
     motor_lf=0;
     motor_lb=0;
     wait(1);
-    set_direction(0x11, 0.5,0.5);
+    set_direction(0x11, 0.2,0.2);
     while(1) {
     }
 }