Diff: source/movement.cpp

Revision:

29:e7d0208bf2af

Parent:

27:df11ab63cda4

Child:

31:51f52ffa4b51

--- a/source/movement.cpp	Tue Mar 07 11:05:20 2017 +0000
+++ b/source/movement.cpp	Tue Mar 07 16:24:52 2017 +0000
@@ -51,7 +51,9 @@
 void move_forward_slow(float correction_value)
 {
     pwmL.write(power_value_slow);
-    pwmR.write(1-power_value_slow*correction_value);
+    pwmR.write(correction_value);
+    printf("Left: %f || Right: %f    value:%f \r\n",pwmL.read(), pwmR.read(), correction_value);
+
 }
 
 void move_forward_medium(float correction_value)
@@ -84,12 +86,15 @@
 
 void sync_movement(bool speed, bool direction)
 {
+ if(counterLeft.read() > 30000 || -counterRight > 30000){
+     
+     }
  printf("Left: %d || Right: %d\r\n",counterLeft.read(), -counterRight.read());
     if(counterLeft.read() > -counterRight.read()) {
-        PID_correction_value += 0.0001f;
+        PID_correction_value += 0.001f;
     } else {
         if(counterLeft.read() < -counterRight.read()) {
-            PID_correction_value -= 0.0001f;
+            PID_correction_value -= 0.001f;
         } else {
             // even 
         }
@@ -106,18 +111,19 @@
 // direction 0 = backward, direction 1 = forward
 // speed 0 = slow, speed 1 = medium
 
-    if(direction && speed) {
+    /*if(direction && speed) {
         move_forward_medium(PID_correction_value);
-    }
+    }*/
     if(direction && !speed) {
-        move_forward_slow(PID_correction_value);
-    }
+        float value = 1.0f-power_value_slow*PID_correction_value;
+        move_forward_slow(value);
+    }/*
     if(!direction && speed) {
         move_backward_medium(PID_correction_value);
     }
     if(!direction && !speed) {
         move_backward_slow(PID_correction_value);
-    }
+    }*/
 }
 
 void terminate_movement()