Diff: move.cpp

Revision:

26:0584d68e8f30

Parent:

25:fa9b75c175fd

Child:

27:4242d6187281

--- a/move.cpp	Sat Sep 10 17:33:19 2016 +0000
+++ b/move.cpp	Sat Sep 10 17:38:58 2016 +0000
@@ -29,26 +29,21 @@
     M1ccw.period_us(256);
     M2cw.period_us(256);
     M2ccw.period_us(256);
-
 }
 
 void move(int left,int right)
 {
-
     float rightduty,leftduty;
 
-    if(right>256) {
+    if(right>256)
         right=256;
-    }
-    if(left>256) {
+    else if(right<-256)
+        right=-256;
+
+    if(left>256)
         left=256;
-    }
-    if(right<-256) {
-        right=-256;
-    }
-    if(left<-256) {
+    else if(left<-256)
         left=-256;
-    }
 
     rightduty=right/256.0;
     leftduty=left/256.0;
@@ -247,8 +242,7 @@
             daikei = i/5;
         } else if(absd_length < 300) {
             daikei = absd_length / 300.0;
-        }
-        else
+        } else
             daikei = 1;
 
         move(daikei * (rightspeed*(1-ratio) + k*(*disorder) - k_theta*dtheta) + rightspeed*ratio,
@@ -508,7 +502,6 @@
     wait(0.2);
 
     red = 0;
-
 }
 
 float nearPi(float rad)