Diff: main.cpp

Revision:

22:34a0c436ac45

Parent:

21:4e8a4f66aaef

--- a/main.cpp	Thu Jul 10 03:25:59 2014 +0000
+++ b/main.cpp	Fri Jul 11 01:25:16 2014 +0000
@@ -198,7 +198,6 @@
         for(int i=0;i<n_pointR;i++){
              pointsR.pop(&point);
              pc.printf("%d ",point);
-        //algorithm
             if(point>0){
                 sum_error_R+=point;   //because R's black is on the right side of line
                 correct_pointR_number++;
@@ -210,7 +209,7 @@
                 pointsL.pop(&point);
                 pc.printf("%d ",point);
             if(point>0){
-                sum_error_L+=point;   //because R's black is on the right side of line
+                sum_error_L+=point;   //because L's black is on the right side of line
                 correct_pointL_number++;
              }
        }
@@ -218,46 +217,29 @@
         int error_R_ave=(correct_pointR_number==0)?0:sum_error_R/correct_pointR_number;
         int error_L_ave=(correct_pointL_number==0)?0:sum_error_L/correct_pointL_number;
         
-      //  pc.printf("L: %d  R: %d\r\n",error_L_ave,error_R_ave);
-        
         
         //two line
         if(error_L_ave!=0 && error_R_ave!=0){
-            servo.set_angle(cam_to_M_ctrlr.compute((error_L_ave+error_R_ave)/2,center) );
+            servo.set_angle(cam_to_M_ctrlr.compute((error_L_ave+error_R_ave)/2,63) );
         }
         
         //in the correct think, one line should not appear
         //right line
         else if(error_L_ave==0 && error_R_ave!=0){  
-            servo.set_angle(cam_to_M_ctrlr.compute(error_R_ave,30));
+            servo.set_angle(cam_to_M_ctrlr.compute(error_R_ave,35));
         }
         //left line
         else if(error_R_ave==0 && error_L_ave!=0){
-            servo.set_angle(cam_to_M_ctrlr.compute(error_L_ave,88));
+            servo.set_angle(cam_to_M_ctrlr.compute(error_L_ave,90));
         }
         //no line
         else if(error_L_ave!=0 && error_R_ave!=0){}
-        
-        
-       // cam_to_M_ctrlr.compute(black_center+sum_error_R/n_pointR,center);  
-     
-       // servo.set_angle(         cam_to_M_ctrlr.compute(black_center+sum_e/n_pointR,center) );
-         
-        // pc.printf("dfdf");    
-        //if(b_r_c!=-1)
-        // v_servo=cam_to_M_ctrlr.compute(b_r_c,R_target);     
-        //if(b_l_c!=-1)
-        // v_servo=cam_to_M_ctrlr.compute(b_l_c,L_target);     
-            
-        
-             // v_servo=pot2.read();
        
         
         #ifdef task_ma_time
         servo_p=0;
         #endif 
         
-              
          Thread::wait(20);