Diff: Motion.cpp

Revision:

33:836ab2089565

Parent:

32:e984b7959cb0

Child:

34:0587c0943263

--- a/Motion.cpp	Wed May 23 01:34:36 2018 +0000
+++ b/Motion.cpp	Wed May 23 12:30:39 2018 +0000
@@ -153,6 +153,10 @@
             if (distanceC < 100.0f && lastMove == false) {
                 break;    
             
+            }else if ( ((countsL - countsLOld)  >= 824 || (countsR - countsROld) <= -824) && (distanceC >= 100.0f) && (distanceC < 120.0f) )  {
+                countsLOld += 100;
+                countsROld -= 100; 
+                  
             //Stop after certain distance if side wall missing
             }else if ( (distanceL > 80.0f || distanceR > 80.0f) && lastMove == false && deceleration == true && distanceC < 190.0f) {
 
@@ -162,7 +166,7 @@
                 countsL = counterLeft.read();
                 countsR = counterRight.read();
                 
-                while ((countsL - countsLOld)  <  300.0f || (countsR - countsROld) > -300.0f) {
+                while ((countsL - countsLOld)  <  250.0f || (countsR - countsROld) > -250.0f) {
                     countsL = counterLeft.read();
                     countsR = counterRight.read(); 
                     accel(RUN_SPEED); 
@@ -524,7 +528,7 @@
                     longMove = true;
                     deceleration = false;
                     
-                }else if (reverse == false && path[task+1] == path[task] && ( path[task-1] != path[task] || task == 0) ) {  //same as above, also if start field
+                }else if (reverse == false && path[task+1] == path[task] && ( path[task-1] != path[task] || task == 0 || path[task-1] != 4) ) {  //same as above, also if start field
                     
                     acceleration = true;
                     longMove = true;