Diff: IRSensorPID.cpp

Revision:

1:d96e4201ff84

Parent:

0:9d67126e11c8

diff -r 9d67126e11c8 -r d96e4201ff84 IRSensorPID.cpp
--- a/IRSensorPID.cpp	Fri Jan 25 14:09:48 2019 +0000
+++ b/IRSensorPID.cpp	Sat Jan 26 16:09:10 2019 +0000
@@ -67,7 +67,7 @@
     pwmRight.motorBw.write(0);
     pwmRight.motorFw.write(0);
     
-    wait(0.1);
+    wait(0.001);
     
         if(!direction){
             pwmRight.motorEnable = false;
@@ -90,7 +90,7 @@
     if(speed<=1.0 && speed > 0.0){
         pwmLeftPtr->write(speed);
         pwmRightPtr->write(speed);
-    }else if(speed < 0 && speed >= 1.0){
+    }else if(speed  < 0 && speed >= 1.0){
         SetDirection(0, 0);
         SetDirection(0, 1);   
     }
@@ -207,7 +207,7 @@
     
     float highThresh = 0.2, lowThresh = 0.2;
     float maxPID = 5.0, minPID = -5.0;
-    int dirLeft, dirRight;
+    bool dirLeft, dirRight;
     bool left
     
     //assign new speed with PID value and scale it
@@ -219,10 +219,10 @@
     rightSpeed = initSpeed + PIDValue;
     
     leftSpeed > 0 ? dirLeft = true : dirLeft = false;
-    if(leftSpeed == prevDir.prevDirL) setDirection(...);
+    if(leftSpeed != prevDir.prevDirL) setDirection(...);
     
     righSpeed > 0 ? dirRight = true : dirRight = false;
-    if(rightSpeed == prevDir.prevDirR) setDirection(...);
+    if(rightSpeed != prevDir.prevDirR) setDirection(...);
     
     SetSpeed(...)