Diff: Motion.cpp

Revision:

29:0419f4873807

Parent:

28:b7ce1e3bf08b

--- a/Motion.cpp	Thu May 17 16:39:03 2018 +0000
+++ b/Motion.cpp	Fri May 18 09:30:00 2018 +0000
@@ -56,7 +56,7 @@
             else accel(MOVE_SPEED);
             control();
             
-            if ((distanceC) < 40.0f && speedRun == false) {
+            if ((distanceC) < 47.0f && speedRun == false) {
                 countsLOld = countsL;
                 countsROld = countsR;
                 
@@ -72,7 +72,7 @@
                 stop();
                 break;    
                 
-            }else if (distanceC < 101.0f && speedRun == true) {
+            }else if (distanceC < 200.0f && speedRun == true) {
                 stop();
                 break;   
             }else if ( ((countsL - countsLOld)  >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC <= 130.0f) && (distanceC > 40.0f)) {
@@ -129,9 +129,10 @@
             accel(RUN_SPEED);
             control();
             
-            if (distanceC < 101.0f && lastMove == false) {
+            if (distanceC < 200.0f && lastMove == false) {
+                stop();
                 break;    
-            }else if (distanceC < 40.0f && lastMove == true) {
+            }else if (distanceC < 47.0f && lastMove == true) {
                 stop();
                 break;
             }
@@ -179,13 +180,13 @@
             accel(MOVE_SPEED);
             control();
             
-            if ((distanceC) < 40.0f) {
+            if ((distanceC) < 47.0f) {
                 countsLOld = countsL;
                 countsROld = countsR;
                 while ((countsL - countsLOld)  <  70 || (countsR - countsROld) > -70) {
                     countsL = counterLeft.read();
                     countsR = counterRight.read(); 
-                    if (distanceC > 40.0f) {
+                    if (distanceC > 47.0f) {
                         stop();
                         break;
                     }
@@ -194,7 +195,7 @@
                 stop();
                 break;   
                  
-            }else if ( ((countsL - countsLOld)  >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 100.0f) && (distanceC > 40.0f)) {
+            }else if ( ((countsL - countsLOld)  >= MOVE_DIST || (countsR - countsROld) <= -MOVE_DIST) && (distanceC < 199.0f) && (distanceC > 47.0f)) {
                 countsLOld += 500;
                 countsROld += 500;   
             }