Diff: main.cpp

Revision:

2:e0a553b64315

Parent:

1:ecbf974d0733

Child:

3:812a72bbd664

--- a/main.cpp	Thu Jun 28 07:30:44 2018 +0000
+++ b/main.cpp	Fri Jun 29 05:21:46 2018 +0000
@@ -37,14 +37,16 @@
     bool left = false;
     bool middle = false;
     bool right = false;
+    
+    // here I use 500 as threshold
+    int threshold = 500;
 
-    while (true) {
-        // here I use 500 as threshold
-        // black: > 500
-        // white: < 500
-        left = leftIR.read_u16() > 500 ? true : false;
-        middle = middleIR.read_u16() > 500 ? true : false;
-        right = rightIR.read_u16() > 500 ? true : false;
+    while (true) {    
+        // not on track: > 500
+        // on track (black): < 500
+        left = leftIR.read_u16() < threshold ? true : false;
+        middle = middleIR.read_u16() < threshold ? true : false;
+        right = rightIR.read_u16() < threshold ? true : false;
 
         led1 = 1; // light on on-board LED
 
@@ -56,7 +58,7 @@
                 DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
                 DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
                 // pause for 0.5 sec
-                wait_ms(1000);
+                wait_ms(100);
 
                 // then go backward
                 DriveSingleMotor(MOTOR_M1, 2, DIR_BACKWARD);
@@ -90,7 +92,7 @@
         DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
         DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
         led1 = 0; // turn of on-board LED
-        wait_ms(1000);
+        wait_ms(100);
     }
 }