Diff: main.cpp

Revision:

3:e867c4e984df

Parent:

2:a04e2757d372

--- a/main.cpp	Fri Mar 20 10:33:58 2015 +0000
+++ b/main.cpp	Fri Mar 20 10:49:25 2015 +0000
@@ -280,14 +280,14 @@
             
             minVal = ADCdata[15];
             for (int c = 10; c < 118; c++) {
-                if (ADCdata[c] < minVal){
+                if (ADCdata[c] > minVal){
                     minVal = ADCdata[c];
                     minLoc = c;
                 }
             }
             
             for (int c = 10; c < 118; c++) {
-                if (ADCdata[c] >= minVal && ADCdata[c] - minVal < 0.08f && ADCdata[c] > 0.1f){
+                if (ADCdata[c] <= minVal && minVal - ADCdata[c] < 0.07f && ADCdata[c] > 0.1f){
                     minAccum += c;
                     minCount++;
                 }
@@ -308,8 +308,8 @@
                     motor2.pulsewidth(.0025*.105);
             } else if (approxPos > 40 && approxPos <= 90){
                 servo.pulsewidth(straight);
-                    motor1.pulsewidth(.0025*.1125);
-                    motor2.pulsewidth(.0025*.1125);
+                    motor1.pulsewidth(.0025*.11);
+                    motor2.pulsewidth(.0025*.11);
             } else if (approxPos > 90 && approxPos <= 105){
                     servo.pulsewidth(slightRight);
                     motor1.pulsewidth(.0025*.105);
@@ -334,7 +334,7 @@
         else{
             clk = 1;
             wait_us(220);
-            ADCdata[integrationCounter - 1] = 1 - camData;
+            ADCdata[integrationCounter - 1] = camData;
             clk = 0;
         }