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

Revision:
61:bdc31e4fa3c4
Parent:
58:996effac29b9
Child:
67:1b5c8add3d01
diff -r 4e53879e1129 -r bdc31e4fa3c4 main.cpp
--- a/main.cpp	Sat Apr 08 17:59:27 2017 +0000
+++ b/main.cpp	Thu Apr 13 17:52:26 2017 +0000
@@ -111,11 +111,11 @@
         
         if(totalAngleDegrees > lastAngle)
         {
-            cornerRatio = (lastAngle / totalAngleDegrees);
+            cornerRatio =  cornerRatio * (LasstAngle / totalAngleDegrees);
         }
         else if(totalAngleDegrees < lastAngle)
         {
-            cornerRatio = (lastAngle / totalAngleDegrees);    
+            cornerRatio =  cornerRatio * (lastAngle / totalAngleDegrees);    
         }
         else
         {