Diff: main.cpp

Revision:

25:1d0f586aaf0c

Parent:

24:504a58daa06e

Child:

27:3dd1460365d3

Child:

31:0c2b49175036

--- a/main.cpp	Mon Mar 02 20:21:40 2015 +0000
+++ b/main.cpp	Tue Mar 03 18:16:34 2015 +0000
@@ -1,6 +1,12 @@
 //#include "mbed.h"
 #include "TFC.h"
 
+#define AGGRESSIVE .55
+#define MODERATE .48   
+#define CONSERVATIVE .35
+#define STOP 0
+#define BLACK_THRESHOLD 64
+
 DigitalOut myled(LED1);
 
 int main()
@@ -82,25 +88,25 @@
             // checking behavior level
             violence_level =  int(TFC_GetDIP_Switch());
 
-            if (violence_level==2) {
-                current_left_motor_speed  = -.48;
-                current_right_motor_speed = .48;
+            if (violence_level==3) {
+                current_left_motor_speed  = -(AGGRESSIVE);
+                current_right_motor_speed = AGGRESSIVE;
             }
-            if (violence_level==3) {
-                current_left_motor_speed  = -.55;
-                current_right_motor_speed = .55;
+            if (violence_level==2) {
+                current_left_motor_speed  = -(MODERATE);
+                current_right_motor_speed = (MODERATE);
             }
             else if (violence_level==1) {
-                current_left_motor_speed  = -.35;
-                current_right_motor_speed = .35;
+                current_left_motor_speed  = -(CONSERVATIVE);
+                current_right_motor_speed = CONSERVATIVE;
             }
             else if (violence_level==0) {
-                current_left_motor_speed  = 0;
-                current_right_motor_speed = 0;
+                current_left_motor_speed  = STOP;
+                current_right_motor_speed = STOP;
             }
             else {
-                current_left_motor_speed  = 0;
-                current_right_motor_speed = 0;
+                current_left_motor_speed  = STOP;
+                current_right_motor_speed = STOP;
             }
             
 
@@ -211,7 +217,7 @@
                     }
 
                     // need to turn right
-                    if (black_center_value > 64) {
+                    if (black_center_value > BLACK_THRESHOLD) {
 
                         current_servo_position= float(.01875*black_center_value-(1.2));
                         if( current_servo_position >= +0.4)
@@ -253,7 +259,7 @@
                     linescan_ping_pong = true;
                 }
 
-                TFC_LineScanImageReady ==0;  // since we used it, we reset the flag
+                TFC_LineScanImageReady = 0;  // since we used it, we reset the flag
             }// end imageready
         }// end linescan stuff
     }