Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Diff: main.cpp

Branch:
Drift
Revision:
74:2d45b954deb1
Parent:
73:1dcf56e9f1d4
Child:
76:5de2cbe0c271
--- a/main.cpp	Sun Apr 16 21:19:45 2017 +0000
+++ b/main.cpp	Sun Apr 16 21:31:26 2017 +0000
@@ -144,28 +144,32 @@
         
         if(totalAngleDegreesAbs > lastAngleAbs)
         {
-            cornerRatio =  0.5;//(lastAngle / totalAngleDegrees);
+            cornerRatio =  0.4;//(lastAngle / totalAngleDegrees);
         }
         else if(totalAngleDegreesAbs < lastAngleAbs)
         {
-            cornerRatio =  1.0;//(lastAngle / totalAngleDegrees);    
+            cornerRatio =  0.8;//(lastAngle / totalAngleDegrees);    
         }
         else
         {
             cornerRatio = 1.0f;    
         }
         
-        if(totalAngleDegreesAbs > 18.0f)
+        if(totalAngleDegreesAbs > 20.0f)
         {
-            speedRatio = 0.90f;
+            speedRatio = 0.50f;
+        }
+        else if(totalAngleDegreesAbs > 18.0f)
+        {
+            speedRatio = 0.87f;
         }
         else if(totalAngleDegreesAbs > 15.0f)
         {
-            speedRatio = 0.94f;
+            speedRatio = 0.91f;
         }
         else if(totalAngleDegreesAbs > 12.0f)
         {
-            speedRatio = 0.98f;
+            speedRatio = 0.95f;
         }
         else
         {