Diff: main.cpp

Revision:

27:aa81c15e5c1d

Parent:

25:806e67a1218f

Child:

28:add6c7e2f0d3

--- a/main.cpp	Sat Mar 28 21:08:53 2015 +0000
+++ b/main.cpp	Sat Mar 28 21:21:13 2015 +0000
@@ -79,7 +79,7 @@
     bool turn_left=false;
     bool turn_right=false;
 
-    float bullshit_offset = .08;
+    float bullshit_offset = .075;
 
     // major loop
     while(1) {
@@ -164,7 +164,7 @@
                     
   
                     // checking for center line (single line)
-                    for (uint16_t i=15; i<113; i++) {
+                    for (uint16_t i=10; i<118; i++) {
                         if ((*(TFC_LineScanImage0+i) < 450)) {
                             black_values_list[black_value_count] = i;
                             black_value_count++;
@@ -187,7 +187,7 @@
                     
                     uint8_t num = 0;
                     
-                    if(center_now > 15 && center_now < 27)
+                    if(center_now > 10 && center_now < 27)
                         num = 1;
                     else if(center_now >= 27 && center_now < 54)
                         num = 2;
@@ -195,7 +195,7 @@
                         num = 15;
                     else if(center_now >= 54 && center_now < 81)
                         num = 4;
-                    else if(center_now >= 81 && center_now < 113)
+                    else if(center_now >= 81 && center_now < 118)
                         num = 8;
                     
                     else
@@ -223,9 +223,14 @@
                     //if (black_center_value > BLACK_THRESHOLD+30) {
                     if (num==8 and right_counter <.2 )
                     {
-                        //left_counter += (128-black_center_value);
-                        //left_counter+=20;
-                        left_counter=-0.4;
+                        
+                        if (center_now <113)
+                            left_counter=-0.4;
+                        else
+                        {
+                            if (left_counter > -.15)
+                                left_counter=-0.15; // less drastic for outside parts
+                        }
                         turn_left=true;
                         turn_right=false;
 
@@ -244,10 +249,14 @@
                     //else if (black_center_value < BLACK_THRESHOLD-30) {
                     else if (num==1 and left_counter >-.2)
                     {
-                        //right_counter += black_center_value;
+                        if (center_now >15)
+                            right_counter =.4;
+                        else 
+                        {
+                            if (right_counter <.15)
+                                right_counter =.15; // less drastic for outside parts
+                        }
                         
-                        //right_counter +=20;
-                        right_counter =.4;
                         turn_left=false;
                         turn_right=true;