Diff: main.cpp

Revision:

22:44c032e59ff5

Parent:

21:c279c6a83671

Child:

23:aae5cbe3b924

--- a/main.cpp	Thu Feb 27 23:20:34 2014 +0000
+++ b/main.cpp	Fri Feb 28 00:16:49 2014 +0000
@@ -43,6 +43,7 @@
     //testButtons();
     //testDriveHome();
     //testFinalSettleIn();
+    testCalibrate();
 
     // Real routines for the contest.
     setLeds(1, 0, 0, 0);
@@ -167,17 +168,17 @@
         int32_t reduction = reckoner.sin / (1<<15) * straightDriveStrength / (1 << 15);
         if (reduction > 0)
         {
-            speedRight = reduceSpeed(speedRight, -reduction);
+            speedRight = reduceSpeed(speedRight, reduction);
         }
         else
         {
-            speedLeft = reduceSpeed(speedLeft, reduction);               
+            speedLeft = reduceSpeed(speedLeft, -reduction);
         }
         motorsSpeedSet(speedLeft, speedRight);
         
         if (goodCalibration)
         {
-            if(goodCalibrationTimer.read_us() >= 300000)
+            if(goodCalibrationTimer.read_ms() >= 300)
             {
                 // The calibration was good and we traveled for a bit of time after that,
                 // so we must be a bit over the line.