Diff: Control/drivecontrol.cpp

Revision:

20:b18eed69ee32

Parent:

17:043ed1d0196f

Child:

21:694ff00652de

--- a/Control/drivecontrol.cpp	Sat May 20 22:57:39 2017 +0000
+++ b/Control/drivecontrol.cpp	Sat May 20 23:26:40 2017 +0000
@@ -16,9 +16,9 @@
 
 // Sensor offsets
 //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;
+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;
 
 // Motor speed offsets
 float left_speed, right_speed, motor_speed;
@@ -153,7 +153,7 @@
 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() * 1000);
+    pc.printf("FRONT TOP RIGHT IRSensor %f\n\r", rightFrontIR.readIR() * 500);
     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());
@@ -219,7 +219,7 @@
 }
 
 bool DriveControl::has_front_wall() {
-    bool right_front_wall = (rightFrontIR.readIR() * 1000) > FRONT_SENSOR_THRES;
+    bool right_front_wall = (rightFrontIR.readIR() * 500) > FRONT_SENSOR_THRES;
     bool left_front_wall = (leftFrontIR.readIR() * 10) > FRONT_SENSOR_THRES;
     return right_front_wall && left_front_wall;
 }