Diff: main.cpp

Revision:

13:6ad980fd3394

Parent:

12:288df1e95dec

Child:

14:f43b386b8b5d

diff -r 288df1e95dec -r 6ad980fd3394 main.cpp
--- a/main.cpp	Mon Feb 23 21:12:31 2015 +0000
+++ b/main.cpp	Tue Feb 24 18:54:07 2015 +0000
@@ -118,7 +118,7 @@
                         // checking for center line?
                         for (uint16_t i=0; i<128; i++)
                             {
-                                if ((*(TFC_LineScanImage0+i) > 450)) 
+                                if ((*(TFC_LineScanImage0+i) < 300)) 
                                 {
                                     black_values_list[black_value_count] = i;
                                     black_value_count++;
@@ -132,17 +132,38 @@
                         
                         black_center_value= sum_black / black_value_count;
                         
-                        if (black_center_value > 64)
+                        if (black_center_value < 64)
                             {
-                                current_servo_position = current_servo_position-.0001;
+                                
+                                
+                                //current_servo_position= float(-0.2);
+                                /*if(black_center_value < 40)
+                                    current_servo_position = current_servo_position-.0004;
+                                else
+                                    current_servo_position = current_servo_position-.0001;*/
+                                
+                                //current_servo_position= float(.009375*black_center_value-(.6));
+                                //current_servo_position= float(.00625*black_center_value-(.4));
+                                current_servo_position= float(.015625*black_center_value-(1));
                                 if(current_servo_position <= -0.4)
                                     current_servo_position = -0.4;
                                 TFC_SetServo(0, current_servo_position);
+                                
                             }
                         
-                        if (black_center_value < 64)
+                        if (black_center_value > 64)
                             {
-                                current_servo_position = current_servo_position+.0001;
+                                //current_servo_position = current_servo_position+.0001;
+                                //current_servo_position= float();
+                                //current_servo_position= float(0.2);
+                                /*if(black_center_value > 88)
+                                    current_servo_position = current_servo_position+.0004;
+                                else
+                                    current_servo_position = current_servo_position+.0001;*/
+                                    
+                                //current_servo_position= float(.009375*black_center_value-(.6));
+                                //current_servo_position= float(.00625*black_center_value-(.4));   
+                                current_servo_position= float(.015625*black_center_value-(1));
                                 if( current_servo_position >= +0.4)
                                     current_servo_position = +0.4;
                                 TFC_SetServo(0, current_servo_position);