Diff: main.cpp

Revision:

11:45ee4a96bca0

Parent:

10:1402608022be

Child:

12:439c0b3f0673

--- a/main.cpp	Mon Apr 27 23:28:49 2020 +0000
+++ b/main.cpp	Tue Apr 28 21:24:08 2020 +0000
@@ -77,7 +77,7 @@
     float rightMotorSpeed = 0.0;
     
     int encoderCountDifference = 0;
-    int countDifferenceTolerance = 2; //How many counts difference between encoders is allowed
+    const int countDifferenceTolerance = 3; //How many counts difference between encoders is allowed
     
     while(1){
     if(leftJoystickState != 0 && rightJoystickState != 0 && leftJoystickState == rightJoystickState) //only need to match speeds if they're moving in same direction
@@ -124,11 +124,11 @@
             //add or subtract motor speed, depending on if its positive or negative
             if(leftMotorSpeed < 0){
                 rightMotorSpeed = rightMotorSpeed + 0.01;
-                rightMotor.speed(leftMotorSpeed);
+                rightMotor.speed(rightMotorSpeed);
             }
             else if(leftMotorSpeed > 0){
                 rightMotorSpeed = rightMotorSpeed - 0.01;
-                rightMotor.speed(leftMotorSpeed);
+                rightMotor.speed(rightMotorSpeed);
             }
             leftEncoderCount = 0; //reset encoder counts
             rightEncoderCount = 0;