Diff: main.cpp

Revision:

39:4a0803d7575d

Parent:

38:ecb6da94cb64

Child:

40:cdb079fc9d0a

diff -r ecb6da94cb64 -r 4a0803d7575d main.cpp
--- a/main.cpp	Thu Mar 05 20:03:48 2015 +0000
+++ b/main.cpp	Thu Mar 05 20:18:49 2015 +0000
@@ -4,18 +4,20 @@
 #include <stdio.h>
 //#include "serialib.h"
 
-#define AGGRESSIVE .55
-#define MODERATE .48   
-#define CONSERVATIVE .35
-#define STOP 0
-#define BLACK_THRESHOLD 63
-#define LINE_SCAN_LENGTH 128
-#define PROTECTION_THRESHOLD_UPPER .7
-#define PROTECTION_THRESHOLD_LOWER -.7
-#define TURN_FORWARD_ACCEL 0.6
-#define TURN_BACKWARD_ACCEL 1.2
-#define SERVO_CAN_MOVE_IN_ONE_FRAME 0.1
-#define SERVO_MAX .5
+const float AGGRESSIVE = .55;
+const float MODERATE =.48;
+const float CONSERVATIVE =.35;
+const float STOP =0;
+const float PROTECTION_THRESHOLD_UPPER =.7;
+const float PROTECTION_THRESHOLD_LOWER =-.7;
+const float TURN_FORWARD_ACCEL =0.045;
+const float TURN_BACKWARD_ACCEL =0.025;
+const float SERVO_CAN_MOVE_IN_ONE_FRAME =0.1;
+const float SERVO_MAX =.5;
+
+const int BLACK_THRESHOLD =63;
+const int LINE_SCAN_LENGTH =128;
+
 
 DigitalOut myled(LED1);
 
@@ -202,7 +204,7 @@
                     // value of center of black (single line)
                     //black_center_value = sum_black / black_value_count;
                     
-                    if (black_value_count>5)
+                    if (black_value_count>2)
                     center_now = sum_black / black_value_count;
                     
                     uint8_t num = 0;
@@ -361,8 +363,8 @@
                         //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(63-black_center_value))*TURN_BACKWARD_ACCEL;// kinda reverse this...
-                        current_right_motor_speed = current_right_motor_speed + (float(63-black_center_value))*TURN_FORWARD_ACCEL;// push more forwards
+                        current_left_motor_speed  = current_left_motor_speed  + float(float(64-black_center_value)*TURN_BACKWARD_ACCEL);// kinda reverse this...
+                        current_right_motor_speed = current_right_motor_speed + float(float(64-black_center_value)*TURN_FORWARD_ACCEL);// push more forwards
                         }
                         
                         // protection block