Anon Anon / Mbed 2 deprecated MicroMousewithFloodFill

Updated with the Algorithm

Dependencies:   QEI mbed

Fork of MM_rat_Assignment4-newwest by Evan Brown

Diff: main.cpp

Revision:
6:ce498700a28c
Parent:
5:bfabc00a73e8
Child:
7:7cdb0381e1b8
--- a/main.cpp	Mon Nov 27 17:45:06 2017 +0000
+++ b/main.cpp	Mon Nov 27 21:42:00 2017 +0000
@@ -36,8 +36,8 @@
 float rightIRBase;
 float leftFrontIRBase;
 float rightFrontIRBase;
-float p =0.5f;
-float i =0.01f;
+float p =0.42f;
+float i =0.0f;
 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> 0.38f && leftFrontValue > 0.22f)
+        if(leftValue> 0.35f && leftFrontValue > 0.16f)
         {
             turn_right();
         }
-        else if(rightFrontValue > 0.21f && rightValue > 0.4f)
+        else if(rightFrontValue > 0.15f && rightValue > 0.35f)
         {
             turn_left();
         }