Diff: main.cpp

Revision:

20:cc12f841a06e

Parent:

19:d06f5a3ed0bc

Child:

21:093c8525349a

diff -r d06f5a3ed0bc -r cc12f841a06e main.cpp
--- a/main.cpp	Wed Jul 18 14:18:39 2018 +0000
+++ b/main.cpp	Thu Jul 19 07:26:27 2018 +0000
@@ -26,7 +26,7 @@
 
 // PID control params
 int values = 0;
-float Kp = 1, Ki = 0, Kd = 0;
+float Kp = 0.7, Ki = 0, Kd = 0;
 
 // main() runs in its own thread in the OS
 int main()
@@ -65,12 +65,12 @@
             // not on track: > 500
             // on track (black): < 500
             //readIR(&left, &middle, &right, threshold);
-            readSensor(&left, &middle, &right, &hasObstacle, threshold, range);
-            //values = readIRValues(); // read IR values
+            //readSensor(&left, &middle, &right, &hasObstacle, threshold, range);
+            values = readIRValues(); // read IR values
 
             //driveMotor(left, middle, right);
-            driveMotor(left, middle, right, hasObstacle);
-            //driveMotorPID(values, Kp, Ki, Kd);
+            //driveMotor(left, middle, right, hasObstacle);
+            driveMotorPID(values, Kp, Ki, Kd);
         }
     }
 }