Diff: Main.cpp

Revision:

3:1a8a7cc709cc

Parent:

2:997f57aee3b7

Child:

4:ecfe2115e9a4

--- a/Main.cpp	Thu Apr 03 13:15:40 2014 +0000
+++ b/Main.cpp	Thu Apr 03 15:52:54 2014 +0000
@@ -12,13 +12,13 @@
 int main()
 {
     Motor.baud(115200);
-    ledF.period_us(26.2); //28.5 //27.9
+    ledF.period_us(26.3); //28.5 //27.9
     wait_us(600);
-    ledF.write(.6);
+    ledF.write(.5);
     stop_mov();
     
     
-    wait(5);
+    wait(3);
     /*
     
     
@@ -98,8 +98,8 @@
     setLeftSpeed(3);
     
     
-    while (true)
-    //while(SenseL.read() < 0.99)
+    //while (true)
+    while(SenseF.read() < 0.99)
     { 
 //        frontExpAvg.add(SenseF.read());
     
@@ -110,27 +110,31 @@
         
         if(PIDv < -0.1)
         {
-            setRightSpeed(3);
-            setLeftSpeed(4);  
+            setRightSpeed(4);
+            setLeftSpeed(3);
+            wait_ms(20); 
+              
         }
         else if(PIDv > .1)
         {
-            setRightSpeed(4);
-            setLeftSpeed(3);        
+            setRightSpeed(3);
+            setLeftSpeed(4);
+            wait_ms(20);        
         }
         else
         {
             setRightSpeed(3);
             setLeftSpeed(3);
-        }     
+        } 
+        //check_walls();    
     }
     
     //setRightSpeed(-2);
     //setLeftSpeed(-2);
     
     //stop_mov();
-    
-    stop_mov();   
+    wait_ms(20);
+    handbrake();   
     return 0;
 }
 void moveNORTH()