Diff: main.cpp

Revision:

18:3988310cd03b

Parent:

16:11ba5d6f42ba

diff -r 11ba5d6f42ba -r 3988310cd03b main.cpp
--- a/main.cpp	Wed Feb 25 17:56:16 2015 +0000
+++ b/main.cpp	Thu Feb 26 16:17:12 2015 +0000
@@ -52,9 +52,6 @@
         if(rear_motor_enable_flag) {
             TFC_HBRIDGE_ENABLE;
 
-            //current_left_motor_speed    = (TFC_ReadPot(0));
-            //current_right_motor_speed   = (TFC_ReadPot(1));
-
             // checking behavior level
             violence_level =  int(TFC_GetDIP_Switch());
 
@@ -75,7 +72,6 @@
                 current_right_motor_speed = 0;
             }
             
-
             // protection block
             if(current_left_motor_speed >= 0.5)
                 current_left_motor_speed= 0.5;
@@ -140,7 +136,7 @@
                         //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
                         }
                         
@@ -170,7 +166,7 @@
                         //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
@@ -207,5 +203,4 @@
     }
 }
 
-
 // shit code down here