Diff: main.cpp

Revision:

4:c545d63ee454

Parent:

3:4e34437daef4

Child:

5:bfabc00a73e8

--- a/main.cpp	Mon Nov 27 17:33:34 2017 +0000
+++ b/main.cpp	Mon Nov 27 17:41:36 2017 +0000
@@ -37,7 +37,7 @@
 float leftFrontIRBase;
 float rightFrontIRBase;
 float p =0.5f;
-float i;
+float i =0.05f;
 float d=0.1f; 
     LeftIR = 1;
             RightIR = 1;
@@ -98,11 +98,11 @@
             FrontRightIR = 0;
            // pc.printf( "%f \n" , leftValue);
             //pc.printf("%f \n", rightValue);
-        if(leftValue> 0.4f && leftFrontValue > 0.24f)
+        if(leftValue> 0.38f && leftFrontValue > 0.22f)
         {
             turn_right();
         }
-        else if(rightFrontValue > 0.22f && rightValue > 0.4f)
+        else if(rightFrontValue > 0.21f && rightValue > 0.4f)
         {
             turn_left();
         }
@@ -117,8 +117,8 @@
        leftFrontError = leftFrontIRBase - leftFrontValue;
        rightFrontError = rightFrontIRBase - rightFrontValue;
        
-       adjust_l = p*leftError-d*prevleftError ;
-       adjust_r = p*rightError-d*prevrightError ;
+       adjust_l = p*leftError-d*prevleftError-i*totalLeftError ;
+       adjust_r = p*rightError-d*prevrightError-i*totalRightError ;
        
        prevleftError = leftError;
        prevrightError = rightError;