Jordan Brack / SmartWheelsPublic

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Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Diff: main.cpp

Revision:
70:311d32a596db
Parent:
69:34e97694f0ef
Child:
71:5601d2faa61d
--- a/main.cpp	Thu Apr 13 18:02:22 2017 +0000
+++ b/main.cpp	Fri Apr 14 18:44:41 2017 +0000
@@ -122,14 +122,14 @@
         //////////////////////////////////////
         
 
-        float totalAngleDegrees = (angleDegrees * 0.50f) + (offsetDegrees * (centerLine[2 * CAM_ROI_UPPER_LIMIT - 1] != BOTH_FOUND ? 0.90f : 0.35f));
+        float totalAngleDegrees = (angleDegrees * 0.55f) + (offsetDegrees * (centerLine[2 * CAM_ROI_UPPER_LIMIT - 1] != BOTH_FOUND ? 0.90f : 0.35f));
         float totalAngleDegreesAbs = abs(totalAngleDegrees);
-        if((totalAngleDegrees < 0 && centerLine[CAM_ROI_UPPER_LIMIT] == LEFT_FOUND) ||
-            (totalAngleDegrees > 0 && centerLine[CAM_ROI_UPPER_LIMIT] == RIGHT_FOUND))
+        if((totalAngleDegrees < 0.0f && centerLine[2 * CAM_ROI_UPPER_LIMIT - 1] == LEFT_FOUND) ||
+            (totalAngleDegrees > 0.0f && centerLine[2 * CAM_ROI_UPPER_LIMIT - 1] == RIGHT_FOUND))
         {
-            totalAngleDegrees = totalAngleDegrees * -1.0f;
+            totalAngleDegrees = ((-1.0f) * totalAngleDegrees);
         }
-        
+        LOGI("%d %5.3f ", centerLine[2 * CAM_ROI_UPPER_LIMIT - 1], totalAngleDegrees);
         servo_set_angle(totalAngleDegrees);
         
         
@@ -140,11 +140,11 @@
         
         if(totalAngleDegrees > lastAngle)
         {
-            cornerRatio =  cornerRatio * (lastAngle / totalAngleDegrees);
+            cornerRatio =  0.6;//(lastAngle / totalAngleDegrees);
         }
         else if(totalAngleDegrees < lastAngle)
         {
-            cornerRatio =  cornerRatio * (lastAngle / totalAngleDegrees);    
+            cornerRatio =  1.0;//(lastAngle / totalAngleDegrees);    
         }
         else
         {