der Roboter / S1

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Dependencies:   SensoryTest

Fork of btbee by Nikolas Goldin

Files at this revision

API Documentation at this revision

Revision 15:cc5b8a858c6e, committed 2014-05-21

Comitter:
mmpeter
Date:
Wed May 21 12:20:43 2014 +0000
Parent:
14:7ddbd9f475ad
Child:
16:2b437630e29e
Commit message:
k=-0.7, speed=0.5, correction for jumpy turns

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed May 21 12:06:54 2014 +0000
+++ b/main.cpp	Wed May 21 12:20:43 2014 +0000
@@ -6,13 +6,13 @@
 
 int main() {
     
-    float speed = 0.25;
+    float speed = 0.5;
     float correction;
-    float k = -0.3;
+    float k = -0.7;
     
     
     thinggy.locate(0,1);
-    thinggy.printf("Line Flw");
+    thinggy.printf("HellzYa");
     
     wait(1.0);
     
@@ -26,7 +26,10 @@
         
         //speed limiting for right motor
         if(speed + correction > 1){
-            thinggy.right_motor(1);
+            thinggy.right_motor(0.6);
+        }
+        else if(speed + correction <= 0){
+            thinggy.right_motor(0.1);
         }
         else{
             thinggy.right_motor(speed+correction);
@@ -34,7 +37,10 @@
         
         //speed limiting for left motor
         if(speed - correction > 1){
-            thinggy.left_motor(1);
+            thinggy.left_motor(0.6);
+        }
+        else if(speed - correction <= 0){
+            thinggy.left_motor(0.1);
         }
         else{
             thinggy.left_motor(speed-correction);