Diff: main.cpp

Revision:

4:09c68df71785

Parent:

3:e867c4e984df

Child:

5:20223464f7aa

--- a/main.cpp	Fri Mar 20 10:49:25 2015 +0000
+++ b/main.cpp	Sat Mar 21 01:40:29 2015 +0000
@@ -27,9 +27,9 @@
 
 //Servo turning parameters
 float straight = 0.00155f;
-float hardLeft = 0.0013f;
+float hardLeft = 0.0012f;
 float slightLeft = 0.00145f;
-float hardRight = 0.0018f;
+float hardRight = 0.0020f;
 float slightRight = 0.00165f;
 
 //End of Line Tracking Variables -------------------------
@@ -227,8 +227,8 @@
 
     wait(5);
 
-    motor1.pulsewidth(.0025*.105);
-    motor2.pulsewidth(.0025*.105);
+    motor1.pulsewidth(.0025*.11);
+    motor2.pulsewidth(.0025*.11);
     break1 = 0;
     break2 = 0;
     
@@ -298,7 +298,7 @@
             
             //approxPos = find_track(ADCdata);
             
-            if(approxPos > 0 && approxPos <= 25){
+           /* if(approxPos > 0 && approxPos <= 25){
                     servo.pulsewidth(hardLeft);
                     motor1.pulsewidth(.0025*.1);
                     motor2.pulsewidth(.0025*.1);
@@ -319,21 +319,41 @@
                     motor1.pulsewidth(.0025*.1);
                     motor2.pulsewidth(.0025*.1);
             }
-            /*
-            if(approxPos > 0 && approxPos <= 45){
+            */
+            
+            /*if(approxPos > 0 && approxPos <= 45){
                     servo.pulsewidth(hardLeft);
+                    motor1.pulsewidth(.0025*.095);
+                    motor2.pulsewidth(.0025*.095);
             } else if (approxPos > 45 && approxPos <= 95){
                     servo.pulsewidth(straight);
+                    motor1.pulsewidth(.0025*.11);
+                    motor2.pulsewidth(.0025*.11);
             } else {
                 servo.pulsewidth(hardRight);
+                motor1.pulsewidth(.0025*.095);
+                motor2.pulsewidth(.0025*.095);
             }*/
+            
+            if(approxPos > 0 && approxPos <= 45){
+                    motor1.pulsewidth(.0025*.095);
+                    motor2.pulsewidth(.0025*.095);
+            } else if (approxPos > 45 && approxPos <= 95){
+                    motor1.pulsewidth(.0025*.11);
+                    motor2.pulsewidth(.0025*.11);
+            } else {
+                motor1.pulsewidth(.0025*.095);
+                motor2.pulsewidth(.0025*.095);
+            }
+            servo.pulsewidth(.0012 + approxPos/((float) 128)*.0008);
+            
             //velocity_control(0.05f, DESIRED_SPEED);
             
             integrationCounter = 150;
         }
         else{
             clk = 1;
-            wait_us(220);
+            wait_us(80);
             ADCdata[integrationCounter - 1] = camData;
             clk = 0;
         }