Diff: DriveController.cpp

Revision:

14:7a4cf2ed2499

Parent:

13:aa6f64c73271

Child:

15:150ec9448efc

Child:

16:b49db5c8e16c

--- a/DriveController.cpp	Fri Apr 03 23:02:38 2015 +0000
+++ b/DriveController.cpp	Wed Apr 15 14:40:08 2015 +0000
@@ -1,7 +1,10 @@
 #include "DriveController.h"
 
-#define MOTOR_SCALE 0.4
-#define CORRECTION_SCALE 0.05
+#define MOTOR_SCALE 0.5
+#define CORRECTION_SCALE 0.15
+#define Kp 0.066666666667
+#define Ki 0.006666666667
+
 
 DriveController::DriveController() : i2c(PTC2, PTC1), treadSpeed1(PTB0), treadSpeed2(PTB1), treadDirection1(PTE20), treadDirection2(PTE21),
     sensors(PTC7, PTC0, PTC3, PTC4, PTC5, PTC6, PTC10, PTC11, PTC9, PTC8, PTA5, PTA4, PTA12, PTD4, PTA2, PTA1, PTC12, PTC13,
@@ -24,13 +27,13 @@
     while(true) //test loop
     {
         move();
-        wait(1);
-        rotate('R');
-        wait(1);
+        wait(0.5);
+        move();
+        wait(0.5);
         rotate('R');
-        wait(1);
-        move();
-        wait(1);
+        wait(0.5);
+        rotate('R');
+        wait(0.5);
     }
     
     /*while(true)
@@ -177,9 +180,10 @@
         if(!intersection())
             atLine = false;
             
-    } while(!intersection() || atLine);*/
+    } 
+    while(!intersection() || atLine);*/
     
-    wait(0.85);
+    wait(0.9);
     
     treadSpeed1 = treadSpeed2 = 0;
 }