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Dependencies:   mbed

Diff: Control/drivecontrol.cpp

Revision:
17:043ed1d0196f
Parent:
16:c26d8e007df5
Child:
18:85196734207e
Child:
20:b18eed69ee32
--- a/Control/drivecontrol.cpp	Sat May 20 21:15:30 2017 +0000
+++ b/Control/drivecontrol.cpp	Sat May 20 21:34:06 2017 +0000
@@ -15,8 +15,9 @@
 Serial pc(PA_9, PA_10);
 
 // Sensor offsets
-float FRONT_SENSOR_THRES = 7.0f, SENSOR_ERROR_OFFSET = 0.0f;
-float LEFT_WALL_THRES = 0.626f, RIGHT_WALL_THRES = 0.161f;
+//float FRONT_SENSOR_THRES = 7.0f, SENSOR_ERROR_OFFSET = 0.0f;
+float FRONT_SENSOR_THRES = 5.0f, SENSOR_ERROR_OFFSET = 0.0f;
+float LEFT_WALL_THRES = 0.626f, RIGHT_WALL_THRES = 0.15f;
 float RIGHT_SIDE_WALL_THRES = 0.5f, LEFT_SIDE_WALL_THRES = 0.5f;
 
 // Motor speed offsets
@@ -220,7 +221,7 @@
 bool DriveControl::has_front_wall() {
     bool right_front_wall = (rightFrontIR.readIR() * 1000) > FRONT_SENSOR_THRES;
     bool left_front_wall = (leftFrontIR.readIR() * 10) > FRONT_SENSOR_THRES;
-    return right_front_wall || left_front_wall;
+    return right_front_wall && left_front_wall;
 }
 
 bool DriveControl::has_left_wall() {