Diff: main.cpp

Revision:

9:ad08181ad1cc

Parent:

8:e126c900c89d

Child:

10:e40ad924e935

--- a/main.cpp	Fri Apr 03 00:34:57 2015 +0000
+++ b/main.cpp	Fri Apr 03 05:06:01 2015 +0000
@@ -71,7 +71,7 @@
 
 int numInterrupts = 0;
 
-float pulsewidth = 0.25f;
+float pulsewidth = 0.15f;
 
 // Hardware periods
 float motorPeriod = .0025;
@@ -307,15 +307,12 @@
     break1 = 0;
     break2 = 0;
     
-
+    int loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime = 0;
     t.start();
     printTimer.start();
     //wait(5);
 
     while(1) {
-
-        if(integrationCounter % 151== 0){            
-
         //break out of main loop if enough time has passed;    
         if(loopCtr >= numData){
             break;
@@ -386,9 +383,14 @@
             } else {
                 approxPos = (float)maxAccum/(float)maxCount;
 
-                lineCenters[loopCtr] = approxPos;
-                times[loopCtr] = printTimer.read_ms();
+                if(loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime%3==0){
+                    lineCenters[loopCtr] = approxPos;
+                    times[loopCtr] = printTimer.read_ms();
+                    loopCtr++;
+                }
                 currDir = hardLeft + approxPos/((float) 127)*(hardRight-hardLeft);
+                
+
             }
             
             //Change speed when turning at different angles
@@ -432,7 +434,7 @@
 
         //clk = 0;
         integrationCounter++;
-        loopCtr++;
+        loopCounterForModdingSoThatWeCanIncreaseTheRecordingTime++;
         //camData.
         
     }
@@ -449,3 +451,4 @@
     }
     pc.printf("]\n\r");
 }
+