Diff: main.cpp

Revision:

22:539311b65796

Parent:

21:4c7fcbf3718c

Child:

23:a141ca857b8f

--- a/main.cpp	Fri Mar 27 18:47:04 2015 +0000
+++ b/main.cpp	Fri Mar 27 18:53:23 2015 +0000
@@ -64,7 +64,6 @@
     int center_past_2 = 63;
     int center_past_3 = 63;
     int center_past_4 = 63;
-    //int best_guess_center = 64;
     
     int position = 0;
     int set_point = 63;
@@ -127,7 +126,6 @@
                 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
             }
             
-
             // protection block
             if(current_left_motor_speed >= PROTECTION_THRESHOLD_UPPER)
                 current_left_motor_speed= PROTECTION_THRESHOLD_UPPER;
@@ -138,7 +136,6 @@
             if(current_right_motor_speed <= PROTECTION_THRESHOLD_LOWER)
                 current_right_motor_speed = PROTECTION_THRESHOLD_LOWER;
 
-            //TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
         }// end motor enabled
         else {
             TFC_HBRIDGE_DISABLE;
@@ -154,18 +151,16 @@
                     //checking center pixel, displays aprox value on leds
                     uint8_t shitnum = 1;
                     
-  
                     // checking for center line (single line)
                     for (uint16_t i=10; i<118; i++) {
-                        if ((*(TFC_LineScanImage0+i) < 400)) {
+                        if ((*(TFC_LineScanImage0+i) < 425)) {
                             black_values_list[black_value_count] = i;
                             black_value_count++;
                         }
                     }
 
-                    for(int i=0; i<black_value_count; i++) {
+                    for(int i=0; i<black_value_count; i++) 
                         sum_black += black_values_list[i];
-                    }
 
                     //update history
                     center_past_4= center_past_3;
@@ -173,8 +168,6 @@
                     center_past_2= center_past_1;
                     center_past_1= center_now;
                     
-                    
-                    //if (black_value_count>2)
                     center_now = sum_black / black_value_count;
                     
                     uint8_t num = 0;
@@ -212,25 +205,21 @@
                     // turn left
                     // hit wall a little bit on the right
                     if (num==8 and right_counter <.2 ) // only if we arent turning right
-                    //if(center_now >= 110 && center_now < 118 and right_counter <.2)
                     {
                         //turn away a little bit for each frame that is wall
                         if (left_counter >-.45)
                         {
-                            //left_counter -=.05;    
-                            //left_counter -=.03; 
-                            //left_counter -= (.001428571*(128-center_now));
-                            //left_counter -= (.002*(128-center_now));
                             if (center_now>100)
-                                left_counter -=.03; 
+                                //left_counter -=.03; 
+                                left_counter -=.027; 
                             else
-                                left_counter -=.05;   
+                                //left_counter -=.05;   
+                                left_counter -=.044; 
                         }
                                 
                         if (left_counter <-.46)
                         {
                             num_of_left =0;
-                            //need_decel=true;
                         }
                             
                             
@@ -254,7 +243,6 @@
                     // wall is close to center on left
                       else if (num==2 and left_counter >-.2)// only if we arent turning left
                     {
-                        
                         right_counter =.54;
                         turn_left=false;
                         turn_right=true;
@@ -267,15 +255,10 @@
                     // turn right
                     // hit wall a little bit on the left
                     else if (num==1 and left_counter >-.2) // only if we arent turning left
-                    //else if ( center_now > 15 && center_now < 27 and left_counter >-.2) // only if we arent turning left
                     {    
                         //turn away a little bit for each frame that is wall
                         if (right_counter <.45)
                         {
-                            //right_counter +=.05;
-                            //right_counter +=.03;
-                            //right_counter +=(.001428571*center_now);
-                            //right_counter +=(.002*center_now);
                             if (center_now<28)
                                 right_counter +=.03;
                             else
@@ -285,7 +268,6 @@
                         if (right_counter >.46)
                         {
                             num_of_right =0;
-                            //need_decel=true;
                         }
               
                         turn_left=false;
@@ -323,10 +305,9 @@
                         // normalize to center each frame
                         // left turning is - servo
                         if(left_counter > -.2) // small turn, normalize quickly
-                            //left_counter += .015;    
-                            left_counter += .010;      
+                            left_counter += .009;      
                         else                // hard turn, normalize slowly
-                            left_counter += .009;
+                            left_counter += .008;
                                 
                         // no longer turning boolean        
                         if (left_counter > (0+ bullshit_offset))