Diff: LOCOMOTION.cpp

Revision:

33:baf24c59affc

Parent:

31:69caabc10879

Child:

34:083073e54dbd

--- a/LOCOMOTION.cpp	Wed Apr 20 14:39:38 2016 +0000
+++ b/LOCOMOTION.cpp	Wed Apr 20 16:11:08 2016 +0000
@@ -156,7 +156,7 @@
             wait(0.5);
         }
     }
-    if (*xCurrState==X_DECREASE) {
+    else if (*xCurrState==X_DECREASE) {
         if(angleGood && xGood) {
             *xCurrState=X_INCREASE;
             wait(0.5);
@@ -167,16 +167,16 @@
     switch(*xCurrState) {
 
         case X_INCREASE:
-            *angleGoal=180;
-            _m1dir=1;
-            _m2dir=1;
+            *angleGoal=0;
+            _m1dir=0;
+            _m2dir=0;
             *xTarget=X_FAR_GOAL;
             break;
 
         case X_DECREASE:
-            *angleGoal=180;
-            _m1dir=0;
-            _m2dir=0;
+            *angleGoal=0;
+            _m1dir=1;
+            _m2dir=1;
             *xTarget=X_NEAR_GOAL;
             break;