Diff: navigation.cpp

Revision:

10:23e21c19b48a

Parent:

9:e24b50c1741b

Child:

11:ea1809fcc27c

diff -r e24b50c1741b -r 23e21c19b48a navigation.cpp
--- a/navigation.cpp	Fri Apr 08 05:00:24 2016 +0000
+++ b/navigation.cpp	Sat Apr 09 00:37:01 2016 +0000
@@ -543,16 +543,16 @@
 void Navigation::newLocalizeLeftReverse()
 {   
     float k = 3.5;
-    float angleAdjust = k*(9.1 - distLocalR);
+    float angleAdjust = k*(distLocalR - 9.1);
     
-    drive.move(0, -1*(angleAdjust*(PI / 180.0)));
+    drive.move(0, angleAdjust*(PI / 180.0));
     // wait for move to complete
     while(!drive.isMoveDone())
     {
         wait(1e-6);
     }
     //angle += (-1*angleAdjust);
-    pc.printf("\n    Adjusted angle by %f in newLocalizeLeftReverse", angleAdjust);
+    pc.printf("\n    Adjusted angle by %f in newLocalizeLeftReverse", -1*angleAdjust);
 }
 
 // FUNCTION:
@@ -565,17 +565,17 @@
 //      Left sensor to adjust off right wall
 void Navigation::newLocalizeRightReverse()
 {   
-    float k = 2.0;
+    float k = 3.0;
         
-    float angleAdjust = k*(distLocalL - 13.0);
+    float angleAdjust = k*(13.0 - distLocalL);
     
-    drive.move(0, -1*(angleAdjust*(PI / 180.0)));
+    drive.move(0, angleAdjust*(PI / 180.0));
     // wait for move to complete
     while(!drive.isMoveDone())
     {
         wait(1e-6);
     }
     //angle += (-1*angleAdjust);
-    pc.printf("\n    Adjusted angle by %f in newLocalizeRight", angleAdjust);
+    pc.printf("\n    Adjusted angle by %f in newLocalizeRight", -1*angleAdjust);
 }