Diff: header.h

Revision:

3:4e34437daef4

Parent:

2:7da65637e512

Child:

6:ce498700a28c

diff -r 7da65637e512 -r 4e34437daef4 header.h
--- a/header.h	Wed Nov 22 01:40:27 2017 +0000
+++ b/header.h	Mon Nov 27 17:33:34 2017 +0000
@@ -29,8 +29,8 @@
 Serial pc(SERIAL_TX, SERIAL_RX); 
 QEI LeftEncoder(lfront, lback, NC, 4096, QEI::X4_ENCODING);
 QEI RightEncoder(rfront, rback, NC, 4096, QEI::X4_ENCODING);       
-const float rbase = 0.2f;
-const float lbase = 0.25f;
+const float rbase = 0.14f;
+const float lbase = 0.15f;
 const float WALL_IR_L = 0.74f;
 const float WALL_IR_R = 0.74f;
 const float WALL_IR_FL = 0.74f;
@@ -107,31 +107,35 @@
 void turn_right(){
     int l_init = LeftEncoder.getPulses();
     pc.printf("l_init %d \n", l_init);
-    while((LeftEncoder.getPulses() - l_init) < 3000){
+    while((LeftEncoder.getPulses() - l_init) < 166){
         lpwmb = 0.0f;
         rpwmf = 0.0f;
         lpwmf = lbase;
         rpwmb = rbase;
-        pc.printf("LeftEncoder: %d \n", LeftEncoder.getPulses());
-        pc.printf("lEncoderDifference %f \n", LeftEncoder.getPulses() - l_init);
+        //pc.printf("LeftEncoder: %d \n", LeftEncoder.getPulses());
+       // pc.printf("lEncoderDifference %f \n", LeftEncoder.getPulses() - l_init);
     }
         //lpwmb = 0.0f;
         //rpwmf = 0.0f;
-        //lpwmf = 0.0f;
-        //rpwmb = 0.0f;
+        lpwmf = 0.0f;
+        rpwmb = 0.0f;
+        wait(1.0);
 }
 
 void turn_left(){
     int r_init = RightEncoder.getPulses();
     pc.printf("r_init %d \n", r_init);
-    while((RightEncoder.getPulses() - r_init) < 2000){
+    while((RightEncoder.getPulses() - r_init) < 150){
         lpwmf = 0.0f;
         rpwmb = 0.0f;
         lpwmb = lbase;
         rpwmf = rbase;
-        pc.printf("RightEncoder: %d \n", RightEncoder.getPulses());
-        pc.printf("rEncoderDifference %f: \n", RightEncoder.getPulses()-r_init);
+       // pc.printf("RightEncoder: %d \n", RightEncoder.getPulses());
+        //pc.printf("rEncoderDifference %f: \n", RightEncoder.getPulses()-r_init);
     }
+    lpwmb = 0.0f;
+    rpwmf = 0.0f;
+    wait( 1.0);
 }
 
 void ProcessIR(float dt, pid& IR_lman, float& lspeed, float& rspeed){