Diff: Control/drivecontrol.cpp

Revision:

22:1a02d66218e4

Parent:

21:694ff00652de

Child:

23:953651133b29

--- a/Control/drivecontrol.cpp	Sat May 20 23:31:30 2017 +0000
+++ b/Control/drivecontrol.cpp	Sun May 21 03:09:44 2017 +0000
@@ -16,13 +16,13 @@
 
 // Sensor offsets
 //float FRONT_SENSOR_THRES = 7.0f, SENSOR_ERROR_OFFSET = 0.0f;
-float FRONT_SENSOR_THRES = 6.0f, SENSOR_ERROR_OFFSET = 0.0f;
-float LEFT_WALL_THRES = 0.5f, RIGHT_WALL_THRES = 0.3f;
-float RIGHT_SIDE_WALL_THRES = 0.30f, LEFT_SIDE_WALL_THRES = 0.24f;
+float FRONT_SENSOR_THRES = 2.2f, SENSOR_ERROR_OFFSET = 0.0f;
+float LEFT_WALL_THRES = 0.527f, RIGHT_WALL_THRES = 0.358f;
+float RIGHT_SIDE_WALL_THRES = 0.20f, LEFT_SIDE_WALL_THRES = 0.20f;
 
 // Motor speed offsets
 float left_speed, right_speed, motor_speed;
-float MOTOR_BASE_SPEED = 10.0f;
+float MOTOR_BASE_SPEED = 12.0f;
 float cool_down_offset = 0.0f;
 
 // Encoder offsets
@@ -93,7 +93,7 @@
     void one_cell_turned(){
         leftEncoder.reset();
         rightEncoder.reset();
-        while(leftEncoder.getEncoderDistance(1)<-46000 & leftEncoder.getEncoderDistance(1)<46000){
+        while(leftEncoder.getEncoderDistance(1)<-45500 & leftEncoder.getEncoderDistance(1)<45500){
             //Do nothing
         }
     }
@@ -148,7 +148,7 @@
 void DriveControl::print_serial_ports(){
     pc.printf("LEFT Encoder Reading %d\n\r", leftEncoder.getEncoderDistance(1));
     pc.printf("RIGHT Encoder Reading %d\n\r", rightEncoder.getEncoderDistance(0));
-    pc.printf("FRONT TOP RIGHT IRSensor %f\n\r", rightFrontIR.readIR() * 500);
+    pc.printf("FRONT TOP RIGHT IRSensor %f\n\r", rightFrontIR.readIR() * 1000);
     pc.printf("FRONT TOP LEFT IRSensor %f\n\r", leftFrontIR.readIR() * 10);
     pc.printf("LEFT Diagonal Sensor %f\n\r", leftDiagonalIR.readIR());
     pc.printf("RIGHT Diagonal Sensor %f\n\r", rightDiagonalIR.readIR());
@@ -210,11 +210,11 @@
     int max_two = 
         (- leftEncoder.getEncoderDistance(1) < rightEncoder.getEncoderDistance(0))
         ? rightEncoder.getEncoderDistance(0):- leftEncoder.getEncoderDistance(1);
-    return max_two > 46000;
+    return max_two > 45500;
 }
 
 bool DriveControl::has_front_wall() {
-    bool right_front_wall = (rightFrontIR.readIR() * 500) > FRONT_SENSOR_THRES;
+    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;
 }