Diff: move.cpp

Revision:

8:3bf4addaaedd

Parent:

7:7f1721542753

Child:

9:7e99a1c80656

diff -r 7f1721542753 -r 3bf4addaaedd move.cpp
--- a/move.cpp	Wed Sep 07 04:57:47 2016 +0000
+++ b/move.cpp	Wed Sep 07 07:36:49 2016 +0000
@@ -85,9 +85,9 @@
         update();
         //pc.printf("t:%f\n\r", coordinateTheta());
         if(pt-coordinateTheta() < np * rad - ALLOW_RAD) {
-            move(-10, 10);
+            move(-12, 12);
         } else if(pt-coordinateTheta() > np * rad + ALLOW_RAD) {
-            move(10, -10);
+            move(12, -12);
         } else {
             move(0,0);
             return;
@@ -107,7 +107,7 @@
     else if(coordinateTheta() < rad) np = -1;
     else return;
 
-    move((-np)*turnspeed, (np)*turnspeed);
+    move((-np)*(turnspeed+2), (np)*turnspeed);
 
     while(1) {
         update();
@@ -264,7 +264,7 @@
         }
 
 
-        move(-(30 + k*dy), -(31 - k*dy));
+        move(-(30 + k*dy), -(32 - k*dy));
 
 
         if(dx>length) {