Diff: main.cpp

Revision:

53:73565a3ef5c5

Parent:

52:05a8e919ddb0

Child:

54:1ca4e748e098

--- a/main.cpp	Wed Apr 15 23:56:52 2015 +0000
+++ b/main.cpp	Thu Apr 16 00:07:27 2015 +0000
@@ -332,7 +332,7 @@
     uint32_t angle1 = turnSensor.getAngleUnsigned();
 
     // 1000 encoder ticks
-    const uint32_t lookAheadAmount = 2000 / logSpacing;
+    const uint32_t lookAheadAmount = 4000 / logSpacing;
     
     // Figure out how far away the next turn is.
     uint32_t i = logIndex;
@@ -386,11 +386,11 @@
         if (onLongStraightPart())
         {
             speed = 1200;
-            led3 = 1;
+            led4 = 1;
         }
         else
         {
-            led3 = 0;
+            led4 = 0;
         }
         
         
@@ -399,8 +399,8 @@
         if (foundStart())
         {
             // Another lap has been completed!
-            lapsCompleted = 1;
-            led4 = lapsCompleted & 1;
+            lapsCompleted += 1;
+            led3 = lapsCompleted & 1;
 
             reckoner.reset();
             turnSensor.reset();