Diff: Motion.cpp

Revision:

11:2960fc540616

Parent:

7:22392ed60534

Child:

12:75d0291a9785

--- a/Motion.cpp	Sat Apr 28 12:29:20 2018 +0000
+++ b/Motion.cpp	Mon Apr 30 18:27:23 2018 +0000
@@ -9,7 +9,7 @@
 const float Motion::KP = 2.5;
 const float Motion::KD = 0.0f;
 const int Motion::MOVE_DIST = 1605;
-const float Motion::MOVE_SPEED = 50.0f;
+const float Motion::MOVE_SPEED = 60.0f;
 
 
 Motion::Motion(Controller& controller, EncoderCounter& counterLeft, 
@@ -33,8 +33,8 @@
         countsL = counterLeft.read();
         countsR = counterRight.read();
         
-        speedLeft = 50.0f;
-        speedRight = -50.0f;
+        speedLeft = MOVE_SPEED;
+        speedRight = -MOVE_SPEED;
         
         controller.setDesiredSpeedLeft(MOVE_SPEED);
         controller.setDesiredSpeedRight(-MOVE_SPEED);
@@ -107,8 +107,8 @@
         countsL = counterLeft.read();
         countsR = counterRight.read();
         
-        speedLeft = 50.0f;
-        speedRight = -50.0f;
+        speedLeft = MOVE_SPEED;
+        speedRight = -MOVE_SPEED;
         
         controller.setDesiredSpeedLeft(MOVE_SPEED);
         controller.setDesiredSpeedRight(-MOVE_SPEED);
@@ -351,3 +351,15 @@
     
     return line;   
 }
+
+/*
+    if ( controller.getSpeedLeft() < MOVE_SPEED ) {
+        
+        speed = counterLeft.read()/2;   
+    }
+    
+    if ( MOVE_DIST - counterLeft.read() < MOVE_SPEED*2 ) {
+    
+        speed = -(MOVE_DIST - MOVE_SPEED*2) + MOVE_SPEED;
+    }
+*/