Diff: main.cpp

Revision:

17:b5886b554381

Parent:

16:25eb20a73e59

Child:

19:545e9ddba0e8

--- a/main.cpp	Thu Mar 26 21:26:54 2015 +0000
+++ b/main.cpp	Thu Mar 26 21:36:32 2015 +0000
@@ -213,7 +213,7 @@
                             //left_counter -=.05;    
                             //left_counter -=.03; 
                             //left_counter -= (.001428571*(128-center_now));
-                            left_counter -= (.0015*(128-center_now));
+                            left_counter -= (.002*(128-center_now));
                             
                         turn_left=true;
                         turn_right=false;
@@ -250,14 +250,12 @@
                             //right_counter +=.05;
                             //right_counter +=.03;
                             //right_counter +=(.001428571*center_now);
-                            right_counter +=(.0015*center_now);
+                            right_counter +=(.002*center_now);
               
                         turn_left=false;
                         turn_right=true;
                     }
                     
-                    
-
 
                    // going straight yesssss
                    else if (turn_right == false and turn_left == false and (violence_level !=0))
@@ -300,7 +298,7 @@
                                 need_decel = false;
                             }
                         else  //  turning speeds 
-                            TFC_SetMotorPWM(current_left_motor_speed+(.25*left_counter), current_right_motor_speed+(.3*left_counter)+(.0005*num_of_left));  //  ++left is slowed, ++right is faster
+                            TFC_SetMotorPWM(current_left_motor_speed+(.25*left_counter), current_right_motor_speed+(.3*left_counter)+(.0001*num_of_left));  //  ++left is slowed, ++right is faster
                         }// end of turn left
                     
                     // set servo and motors according to how much right we need to turn
@@ -333,7 +331,7 @@
                                 need_decel = false;
                             }
                         else    //  turning speeds 
-                            TFC_SetMotorPWM(current_left_motor_speed-(.3*right_counter)-(.0005*num_of_right), current_right_motor_speed-(.25*right_counter));  //  --left is faster, --right is slowed      
+                            TFC_SetMotorPWM(current_left_motor_speed-(.3*right_counter)-(.0001*num_of_right), current_right_motor_speed-(.25*right_counter));  //  --left is faster, --right is slowed      
                         }   // end with turn right