File content as of revision 9:97941581fe81:

#ifndef CONSTANTS_H
#define CONSTANTS_H
namespace constants{
    const int cell_length = 130;
    float leftValue;
    float rightValue;
    float leftFrontValue;
    float rightFrontValue;
    //Errors for all the IR Readings that are used in PID later below.
    float leftError = 0;
    float rightError = 0;
    float prevrightError = 0;
    float prevleftError = 0;
    float prevLeftFrontValue= 0;
    float prevRightFrontValue = 0;
    float changeLeftFrontValue = 0;
    float changeRightFrontValue = 0;
    float totalFrontChange = 0;
    float leftFrontError = 0;
    float rightFrontError = 0;
    float totalLeftError = 0;
    float totalRightError =0;
    //Adjustment values that are set for the PID from the IR Sensors. 
    float adjust_l = 0;
    float adjust_r = 0;
    float leftIRBase;
    float rightIRBase;
    float leftFrontIRBase;
    float rightFrontIRBase;
    //PID For the IR Sensors.
    float p = 0.4f;    //.32
    float i = 0.0001f;
    float d = 0.17f; 
    float frontP = 3.0;
};
#endif