Diff: main.cpp

Revision:

11:e04dc2090433

Parent:

10:761333231e50

Child:

12:915f22e7d7d9

--- a/main.cpp	Thu Mar 26 19:01:48 2015 +0000
+++ b/main.cpp	Thu Mar 26 19:14:36 2015 +0000
@@ -205,7 +205,8 @@
                     {
                         //turn away a little bit for each frame that is wall
                         if (left_counter >-.4)
-                            left_counter -=.05;    
+                            //left_counter -=.05;    
+                            left_counter -=.03; 
                             
                         turn_left=true;
                         turn_right=false;
@@ -227,7 +228,8 @@
                     {    
                         //turn away a little bit for each frame that is wall
                         if (right_counter <.4)
-                            right_counter +=.05;
+                            //right_counter +=.05;
+                            right_counter +=.03;
               
                         turn_left=false;
                         turn_right=true;
@@ -247,7 +249,7 @@
                    else if (turn_right == false and turn_left == false and (violence_level !=0))
                     {
                         TFC_SetServo(0,(0.0+ bullshit_offset));
-                        TFC_SetMotorPWM(current_left_motor_speed-(.0001*num_of_straight), current_right_motor_speed+(.0001*num_of_straight)); // --left is faster, ++right is faster
+                        TFC_SetMotorPWM(current_left_motor_speed-(.00005*num_of_straight), current_right_motor_speed+(.00005*num_of_straight)); // --left is faster, ++right is faster
                         if (violence_level !=0)
                             num_of_straight++;
                     }
@@ -267,7 +269,7 @@
                         if(left_counter > -.2) // small turn, normalize quickly
                             left_counter += .015;        
                         else                // hard turn, normalize slowly
-                            left_counter += .004;
+                            left_counter += .01;
                                 
                         // no longer turning boolean        
                         if (left_counter > (0+ bullshit_offset))
@@ -279,7 +281,7 @@
                                 need_decel = false;
                             }
                         else  //  turning speeds 
-                            TFC_SetMotorPWM(current_left_motor_speed+(.2*left_counter), current_right_motor_speed+(.35*left_counter));  //  ++left is slowed, ++right is faster
+                            TFC_SetMotorPWM(current_left_motor_speed+(.3*left_counter), current_right_motor_speed+(.3*left_counter));  //  ++left is slowed, ++right is faster
                         }// end of turn left
                     
                     // set servo and motors according to how much right we need to turn
@@ -294,7 +296,7 @@
                         if(right_counter < .2) // small turn, normalize quickly
                             right_counter -= .015;        
                         else                // hard turn, normalize slowly
-                            right_counter -= .004;
+                            right_counter -= .01;
                         
                         
                         // no longer turning boolean
@@ -307,7 +309,7 @@
                                 need_decel = false;
                             }
                         else    //  turning speeds 
-                            TFC_SetMotorPWM(current_left_motor_speed-(.35*right_counter), current_right_motor_speed-(.2*right_counter));  //  --left is faster, --right is slowed      
+                            TFC_SetMotorPWM(current_left_motor_speed-(.3*right_counter), current_right_motor_speed-(.3*right_counter));  //  --left is faster, --right is slowed      
                         }   // end with turn right