Diff: Control/drivecontrol.cpp

Revision:

27:b980fce784ea

Parent:

26:191ec0e78774

Child:

28:600932142201

--- a/Control/drivecontrol.cpp	Sun May 21 08:10:29 2017 +0000
+++ b/Control/drivecontrol.cpp	Fri May 26 05:45:02 2017 +0000
@@ -17,8 +17,8 @@
 // Sensor offsets
 //float FRONT_SENSOR_THRES = 7.0f, SENSOR_ERROR_OFFSET = 0.0f;
 float FRONT_SENSOR_THRES = 2.2f, SENSOR_ERROR_OFFSET = 0.0f;
-float LEFT_WALL_THRES = 0.50f, RIGHT_WALL_THRES = 0.30f;
-float RIGHT_SIDE_WALL_THRES = 0.20f, LEFT_SIDE_WALL_THRES = 0.20f;
+float LEFT_WALL_THRES = 0.3643f, RIGHT_WALL_THRES = 0.1932f;
+float RIGHT_SIDE_WALL_THRES = 0.32f, LEFT_SIDE_WALL_THRES = 0.28f;
 
 // Motor speed offsets
 float left_speed, right_speed, motor_speed;
@@ -121,7 +121,6 @@
         }
     }
 }
-
 // Currently only have the x, y position fields for
 // each cell.
 DriveControl::DriveControl (int start_x, int start_y) {
@@ -140,11 +139,6 @@
     return 1;   
 }
 
-int DriveControl::get_next_state(int state) {
-    // Simply drives the mouse for testing
-    //return DRIVE;
-}
-
 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));
@@ -214,9 +208,9 @@
 }
 
 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;
+    return right_front_wall || left_front_wall;
 }
 
 bool DriveControl::has_left_wall() {
@@ -227,11 +221,6 @@
     return rightIR.readIR() > RIGHT_SIDE_WALL_THRES;
 }
 
-void DriveControl::reverse() {
-    leftMotor->speed(-5);
-    rightMotor->speed(-5);
-}
-
 void DriveControl::clear_pid() {
     pid_controller::clear_pid();
 }