Gal Yaroslavsky / MicroMouse-v1

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Dependencies:   L3GD20 LSM303DLHC mbed

Diff: Headers/Sensors.h

Revision:
5:9e504a5a1f48
Parent:
4:ecfe2115e9a4
Child:
6:6e96e93689df
--- a/Headers/Sensors.h	Thu Apr 03 17:34:00 2014 +0000
+++ b/Headers/Sensors.h	Thu Apr 03 18:47:30 2014 +0000
@@ -25,6 +25,11 @@
 bool wallleft = false;
 float cal_R =0, cal_L =0, cal_F =0;
 
+float linearize(float sensor)
+{
+ return abs(log(1-sensor));  
+}    
+
 
 bool wallFront()
 {
@@ -32,11 +37,11 @@
 }
 bool wallLeft()
 {
-    return abs(log(1-SenseL.read())) < 5;
+    return linearize(SenseL.read()) < 5.2;
 }
 bool wallRight()
 {
-    return abs(log(1-SenseR.read())) < 5;
+    return linearize(SenseR.read()) < 5.2;
 }
 void check_walls()
 {