Diff: calibrateFunc.cpp

Revision:

6:a652deaae134

Parent:

5:dfea493f7a12

--- a/calibrateFunc.cpp	Sun Mar 11 13:15:34 2018 +0000
+++ b/calibrateFunc.cpp	Sun Apr 01 18:21:50 2018 +0000
@@ -14,7 +14,7 @@
     }
     
     //LEFT WHEEL STARTS TURN      
-    leftMotorVal.pulsewidth_us(300); 
+    leftMotorVal.pulsewidth_us(calibrationMotorspeed); 
     rightMotorVal.pulsewidth_us(0);  
     
     //TURN UNTIL MIN AND MAX OF ALL SENSORS ARE SET AND A SMIDGE MORE
@@ -47,10 +47,7 @@
     leftMotorVal.pulsewidth_us(0); 
     rightMotorVal.pulsewidth_us(0); 
     
-    //SLOW BEEPER TO 4HZ
-    counter=0;    
-    delayBetweenPulses_ms=250;    
-    //beeper.attach(&beep, 0.01);
+    //TURN LED OFF    
     LEDVal=0; 
     
     wait_ms(500);
@@ -65,7 +62,7 @@
     
     //RIGHT WHEEL STARTS TURN  
     leftMotorVal.pulsewidth_us(0); 
-    rightMotorVal.pulsewidth_us(300);  
+    rightMotorVal.pulsewidth_us(calibrationMotorspeed);  
   
     //TURN UNTIL MIN AND MAX OF ALL SENSORS ARE SET IN NEW VARIABLES
     int doneYet2[] = {0,0,0,0,0,0,0,0};
@@ -90,14 +87,14 @@
     }
     endOfScan2:
     
-    wait_ms(150);
+    wait_ms(50);
     ///////////////////////////////////////////// 
     
     //STOP WHEELS
     leftMotorVal.pulsewidth_us(0); 
     rightMotorVal.pulsewidth_us(0);
     
-    wait_ms(5); 
+    wait_ms(250); 
     
     //AVERAGE THESE VALUES       
     for (int i=0;i<=7;i++)