Diff: main.cpp

Revision:

7:5667ce16d526

Parent:

6:d25157f50f14

Child:

8:2d0fc244cc65

--- a/main.cpp	Wed Nov 21 20:32:01 2018 +0000
+++ b/main.cpp	Sun Nov 25 20:09:50 2018 +0000
@@ -35,12 +35,12 @@
         Lback.speed(0);
         Rfront.speed(0);
         Rback.speed(0);
-        wait(0.02);
+        wait(0.55);
     };
     
     // Go forward at constant speed:
     void fwd(void){
-        stop();
+        //stop();
         
         Lfront.speed(1);
         Lback.speed(1);
@@ -62,27 +62,27 @@
     // Turn left 90 degrees:
     void turnLeft(float currt){
         stop();
-        while ((t.read()-currt) < 1.4) {
+        while ((t.read()-currt) < 1.30) {
             Lfront.speed(-1);
             Lback.speed(-1);
             Rfront.speed(1);
             Rback.speed(1);
         }
         stop();
-        wait(0.02);
+        //wait(0.02);
     };
     
     // Turn right 90 degrees:
     void turnRight(float currt){
         stop();
-        while ((t.read()-currt) < 1.4) {
+        while ((t.read()-currt) < 1.30) {
             Lfront.speed(1);
             Lback.speed(1);
             Rfront.speed(-1);
             Rback.speed(-1);
         }
         stop();
-        wait(0.02);
+        //wait(0.02);
     };
 } mctrl;
 
@@ -102,7 +102,7 @@
         if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);}
         // [Step 2]
         currt = t.read();
-        while ((t.read()-currt) < 1.5) {mctrl.fwd();}
+        while ((t.read()-currt) < .5) {mctrl.fwd();}
         // [Step 3]
         currt = t.read();
         if (tr) {mctrl.turnRight(currt);} else {mctrl.turnLeft(currt);}
@@ -133,7 +133,6 @@
     
     // Initialize the Timer:
     t.start();
-    pc.printf("sw is : %d", sw);
     while(!sw) {
     
         usensor.checkDistance();