Diff: navigation.cpp

Revision:

11:ea1809fcc27c

Parent:

10:23e21c19b48a

Child:

12:6d37ea71da65

--- a/navigation.cpp	Sat Apr 09 00:37:01 2016 +0000
+++ b/navigation.cpp	Sat Apr 09 03:29:15 2016 +0000
@@ -215,26 +215,11 @@
             {
                 wait(1e-6);
             }
-            /*
-            distLocalL = longRangeL.distInchesLOne();
-            distLocalR = longRangeR.distInchesROne();
-            pc.printf("\n    distLocalL = %f", distLocalL);
-            pc.printf("\n    distLocalR = %f", distLocalR);
-            if ((distLocalL <= 8.7) && (distLocalL >= 3.0)) // wall in range
-                {
-                    localizeRight();
-                }
-                
-            else if ((distLocalR <= 10.5) && (distLocalR >= 5.0)) // wall in range
-                {
-                    localizeLeft();
-                }*/
         }
 
         /* send targetDist to motors */
-        int returnVal = drive.move(targetDist, 0);
+        drive.move(targetDist, 0);
         pc.printf("\nMoved forward a distance of %f to node %i", targetDist, target);
-
         // wait for move to complete
         while(!drive.isMoveDone())
         {
@@ -519,7 +504,7 @@
 //      Right sensor to adjust off Left wall
 void Navigation::newLocalizeLeft()
 {   
-    float k = 3.5;
+    float k = 3.5; //  1.125
     float angleAdjust = k*(9.1 - distLocalR);
     
     drive.move(0, angleAdjust*(PI / 180.0));