Diff: LOCOMOTION.cpp

Revision:

37:e8a6ea255c09

Parent:

36:dc69442c4c47

Child:

38:16208e003dc9

--- a/LOCOMOTION.cpp	Mon Apr 25 17:47:51 2016 +0000
+++ b/LOCOMOTION.cpp	Tue Apr 26 20:09:25 2016 +0000
@@ -68,7 +68,7 @@
             _m1dir=0;
             _m2dir=0;
         }
-        setMotors(s);
+        setMotors12(s,s);
     } else if(current<target-error) {
         if(angle==0) {
             _m1dir=0;
@@ -77,7 +77,7 @@
             _m1dir=1;
             _m2dir=1;
         }
-        setMotors(s);
+        setMotors12(s,s);
     } else {
         setMotors(0);
         return true;
@@ -147,18 +147,18 @@
         case ANGLE_BIAS:
             if(wrap(current+diff)>180+error) {
                 if(_m1dir==0)
-                    setMotors12(s+(a*0.75),s);
+                    setMotors12(s*1.4,s*0.6);
                 else
-                    setMotors12(s,s+(a*0.75));
+                    setMotors12(s*0.6,s*1.4);
                 //setMotors12(compG(s,_m1dir,current),compG(s,_m2dir,current));
                 //_m2dir=0;
             } else if(wrap(current+diff)<180-error) {
                 //_m1dir=1;
                 //_m2dir=0;
                 if(_m1dir==0)
-                    setMotors12(s,s+(a*0.75));
+                    setMotors12(s*0.6,s*1.4);
                 else
-                    setMotors12(s+(a*0.75),s);
+                    setMotors12(s*1.4,s*0.6);
                 //setMotors12(compG(s,_m1dir,current),compG(s,_m2dir,current));
                 //_m2dir=1;
             } else {