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Dependencies: L3GD20 LSM303DLHC mbed
Diff: Main.cpp
- Revision:
- 3:1a8a7cc709cc
- Parent:
- 2:997f57aee3b7
- Child:
- 4:ecfe2115e9a4
diff -r 997f57aee3b7 -r 1a8a7cc709cc Main.cpp --- 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()