Diff: main.cpp

Revision:

3:e14a4ea167ca

Parent:

2:5eb97170c199

Child:

4:18f5328ff5a3

--- a/main.cpp	Wed Mar 25 16:20:52 2015 +0000
+++ b/main.cpp	Wed Mar 25 16:42:21 2015 +0000
@@ -79,7 +79,7 @@
     bool turn_left=false;
     bool turn_right=false;
 
-    float bullshit_offset = .08;
+    float bullshit_offset = .074;
 
     // major loop
     while(1) {
@@ -218,7 +218,10 @@
                     {
                         //left_counter += (128-black_center_value);
                         //left_counter+=20;
-                        left_counter=-0.4;
+                        if(left_counter<-0.38)
+                            left_counter=-0.5;
+                        else
+                            left_counter= -0.4;
                         turn_left=true;
                         turn_right=false;
 
@@ -240,7 +243,10 @@
                         //right_counter += black_center_value;
                         
                         //right_counter +=20;
-                        right_counter =.4;
+                        if (right_counter >.38)
+                            right_counter =.5;
+                        else
+                            right_counter =.4;
                         turn_left=false;
                         turn_right=true;
                    
@@ -289,7 +295,7 @@
                         if (left_counter > (0+ bullshit_offset))
                             turn_left = false;
                             
-                        TFC_SetMotorPWM(current_left_motor_speed+(.2*left_counter), current_right_motor_speed+(.2*left_counter));  
+                        TFC_SetMotorPWM(current_left_motor_speed+(.1*left_counter), current_right_motor_speed+(.3*left_counter));  
                         //left_counter -= 1;
                         //if (left_counter < 10)
                         //    turn_left =false; 
@@ -304,7 +310,7 @@
                         if (right_counter < (0+ bullshit_offset))
                             turn_right = false;
                         
-                        TFC_SetMotorPWM(current_left_motor_speed-(.2*right_counter), current_right_motor_speed-(.2*right_counter));        
+                        TFC_SetMotorPWM(current_left_motor_speed-(.3*right_counter), current_right_motor_speed-(.1*right_counter));        
                         //right_counter -= 1;
                        // if (right_counter < 10)
                        //     turn_right =false;