Diff: main.cpp

Revision:

19:85eb7991e2ab

Parent:

17:c643b6b4a96f

Child:

20:c728b8ffad97

--- a/main.cpp	Wed Feb 25 19:35:14 2015 +0000
+++ b/main.cpp	Thu Feb 26 16:30:55 2015 +0000
@@ -35,7 +35,7 @@
     int violence_level = 0;
     
     int set_point = 64;
-    int previous error = 0;
+    int previous_error = 0;
     int error = 0;
 
     
@@ -170,7 +170,7 @@
                         //current_left_motor_speed  = current_left_motor_speed  + float(64-black_center_value)*.0025;
                         //current_right_motor_speed = current_right_motor_speed + float(64-black_center_value)*.0025;
                         if (violence_level !=0){
-                        current_left_motor_speed  = current_left_motor_speed  + float(float(64-black_center_value)*.045);// kinda reverse this...
+                        current_left_motor_speed  = current_left_motor_speed  + float(float(64-black_center_value)*.025);// kinda reverse this...
                         current_right_motor_speed = current_right_motor_speed + float(float(64-black_center_value)*.045);// push more forwards
                         }
                         
@@ -200,7 +200,7 @@
                         //current_right_motor_speed = current_right_motor_speed - float(black_center_value-64)*.0025;
                         if (violence_level !=0){
                         current_left_motor_speed  = current_left_motor_speed  - float(float(black_center_value-64)*.045);// push more forwards
-                        current_right_motor_speed = current_right_motor_speed - float(float(black_center_value-64)*.045);// kinda reverse this...
+                        current_right_motor_speed = current_right_motor_speed - float(float(black_center_value-64)*.025);// kinda reverse this...
                         }
 
                         // protection block