James Heavey
/
3875_Individualproject
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Revision 11:b550167f5278, committed 2020-02-13
- Comitter:
- jamesheavey
- Date:
- Thu Feb 13 16:08:34 2020 +0000
- Parent:
- 10:0dec82280040
- Commit message:
- Changed the library so that read_line only uses the middle 3 sensors preventing right turn error when straight is available
Changed in this revision
| m3pi.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/m3pi.cpp Tue Feb 04 14:55:06 2020 +0000
+++ b/m3pi.cpp Thu Feb 13 16:08:34 2020 +0000
@@ -344,16 +344,16 @@
{
// calculate weighted average
unsigned int value =
- (0*values[0]+1e3*values[1]+2e3*values[2]+3e3*values[3]+4e3*values[4])/
- (values[0]+values[1]+values[2]+values[3]+values[4]);
+ (0*values[1]+1000*values[2]+2000*values[3])/
+ (values[1]+values[2]+values[3]);
// scale to between -1.0 and 1.0
- float position = (int(value) - 2000)/2000.0;
+ float position = (int(value) - 1000)/1000.0;
float is_on_line = false;
// loop through and check if any sensor reading is above the threshold
- for (int i = 0; i<5; i++) {
+ for (int i = 1; i<4; i++) {
if (values[i] > 500) {
is_on_line = true;
}