Diff: rigidLoop.cpp

Revision:

15:56a0bf424e8d

Parent:

14:0fc33a3a7b4b

Child:

17:356ca5690a59

--- a/rigidLoop.cpp	Thu Apr 12 13:02:59 2012 +0000
+++ b/rigidLoop.cpp	Thu Apr 12 14:50:50 2012 +0000
@@ -91,7 +91,7 @@
             // BUT because we may want to see the blue laser where there is dark zone, then we would try to adjust mirror delay as close as possible to the 
             // optimal value, and finish the correction (fine tunned) with the angle correction (only possible in the case of circular rigid blob).
             displaySensingBuffer.setDelayMirrors(3); // this corresponds to an angular correction of -delayMirrors * 360/numPoints
-            angleCorrectionForceLoop=-5;//-65;//360.0/bluePrint.scafold.size()/2; // in DEGREES
+            angleCorrectionForceLoop= -5;// good for ONE spot: -5;// in DEGREES
 
             break;
 
@@ -255,7 +255,7 @@
 
             } else {
                 // not on something. SEARCH MODE (or go to spot_bouncing mode?)
-                saccadeRadius+=10; if (saccadeRadius>800) saccadeRadius=saccadeRadius_initial;
+                saccadeRadius+=30; if (saccadeRadius>800) saccadeRadius=saccadeRadius_initial;
                 bluePrint.buildCircularScafold(saccadeRadius, vector2Dd(0,0), numPoints);
                 justSearched=true;
             }