Diff: main.cpp

Revision:

16:25eb20a73e59

Parent:

15:60d699b587c5

Child:

17:b5886b554381

diff -r 60d699b587c5 -r 25eb20a73e59 main.cpp
--- a/main.cpp	Thu Mar 26 20:23:16 2015 +0000
+++ b/main.cpp	Thu Mar 26 21:26:54 2015 +0000
@@ -88,7 +88,7 @@
     int num_of_right=0;
 
     //servo is offset zero by some bullshit number
-    float bullshit_offset = .074;
+    float bullshit_offset = .068;
 
     // major loop
     while(1) {
@@ -181,9 +181,9 @@
                     
                     if(center_now > 10 && center_now < 45) // linear func
                         num = 1;
-                    else if(center_now >= 45 && center_now < 63) // snap
+                    else if(center_now >= 45 && center_now < 65) // snap
                         num = 2;
-                    else if(center_now > 63 && center_now < 65) // nothing zone
+                    else if(center_now > 64 && center_now < 64) // nothing zone
                         num = 15;
                     else if(center_now >= 65 && center_now < 83) // snap
                         num = 4;
@@ -212,7 +212,8 @@
                         if (left_counter >-.45)
                             //left_counter -=.05;    
                             //left_counter -=.03; 
-                            left_counter -= (.001428571*center_now);
+                            //left_counter -= (.001428571*(128-center_now));
+                            left_counter -= (.0015*(128-center_now));
                             
                         turn_left=true;
                         turn_right=false;
@@ -248,7 +249,8 @@
                         if (right_counter <.45)
                             //right_counter +=.05;
                             //right_counter +=.03;
-                            right_counter +=(.001428571*center_now);
+                            //right_counter +=(.001428571*center_now);
+                            right_counter +=(.0015*center_now);
               
                         turn_left=false;
                         turn_right=true;
@@ -278,7 +280,8 @@
                         num_of_right = 0;
                         num_of_left++;
                         turn_right = false;  
-                        TFC_SetServo(0,left_counter + bullshit_offset ); // set turning servo
+                        if (left_counter + bullshit_offset > -.35)
+                            TFC_SetServo(0,left_counter + bullshit_offset ); // set turning servo
                         
                         // normalize to center each frame
                         // left turning is - servo
@@ -297,7 +300,7 @@
                                 need_decel = false;
                             }
                         else  //  turning speeds 
-                            TFC_SetMotorPWM(current_left_motor_speed+(.3*left_counter), current_right_motor_speed+(.3*left_counter)+(.00005*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)+(.0005*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
@@ -308,7 +311,9 @@
                         num_of_left=0;
                         
                         turn_left =false;
-                        TFC_SetServo(0,right_counter - bullshit_offset); // set servo
+                        
+                        if (right_counter - bullshit_offset < .5)
+                            TFC_SetServo(0,right_counter - bullshit_offset); // set servo
                         
                         // normalize to center each frame
                         // right turning is + servo
@@ -328,7 +333,7 @@
                                 need_decel = false;
                             }
                         else    //  turning speeds 
-                            TFC_SetMotorPWM(current_left_motor_speed-(.3*right_counter)-(.00005*num_of_right), current_right_motor_speed-(.3*right_counter));  //  --left is faster, --right is slowed      
+                            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      
                         }   // end with turn right