Diff: main.cpp

Revision:

7:d0c19729e7fd

Parent:

4:14b00a82d206

Child:

8:09f4495696d2

--- a/main.cpp	Wed May 21 15:09:12 2014 +0000
+++ b/main.cpp	Thu May 22 12:51:22 2014 +0000
@@ -20,11 +20,14 @@
 {
     int sensors[5];
     huey.calibrated_sensor(sensors);
-    float leftSen, rightSen, midSen;
-    leftSen = sensors[1] / 1000;
-    rightSen = sensors[3] / 1000;
-    midSen = sensors[2] / 1000;
-    return rightSen - leftSen;
+    //oat leftSen, rightSen, midSen;
+    //ftSen = sensors[1] / 1000;
+    //ghtSen = sensors[3] / 1000;
+    //dSen = sensors[2] / 1000;
+    float val;
+    val = (((1000*sensors[2] + 2000*sensors[3])/(sensors[1]+sensors[2]+sensors[3])));
+    return -1+(val/1000);
+    
 }
 
 void smoothFollow(float position, float speed)
@@ -67,6 +70,7 @@
 /////////////////////////////////////////////////////////////////
 int main() {
     
+    
     m3pi_IN[0].mode(PullUp);
     m3pi_IN[1].mode(PullUp);