satoshi yuki / Mbed 2 deprecated mbed_paparazzibot_4180Final

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Dependencies:   Motor mbed

Diff: main.cpp

Revision:
6:91445dd6d89a
Parent:
5:d73ca4500060
--- a/main.cpp	Sat Dec 10 22:22:31 2016 +0000
+++ b/main.cpp	Mon Dec 12 16:00:57 2016 +0000
@@ -85,7 +85,7 @@
             Lspeed = .4;
             TError = Ltot - Rtot;
             TError = TError +.05;
-           Rspeed = fabs(Rspeed) + (float)TError /100;
+           Rspeed = fabs(Rspeed) + (float)TError /50;
            
            if(Rspeed < 0)
            RMotor.speed(0);
@@ -117,7 +117,7 @@
                 Rspeed = .4;
                 Lspeed = .4;                
                 TError = Ltot - Rtot; 
-                Rspeed = fabs(Rspeed) + (float) TError / 100;
+                Rspeed = fabs(Rspeed) + (float) TError / 50;
                 Rspeed = -fabs(Rspeed);
                 Lspeed = -fabs(Lspeed);
                 LMotor.speed(0);
@@ -148,28 +148,28 @@
         Rtot = 0;
         TError = 0;
         while(Ltot < 200)
-        LMotor.speed(.4);
+        LMotor.speed(.6);
         LMotor.speed(0);
-        wait(1);
+        wait(.1);
         Ltot = 0;
         while(Ltot < 200)
-        LMotor.speed(-.4);
+        LMotor.speed(-.6);
         LMotor.speed(0);
-        wait(.5);
+        wait(.1);
         while(Rtot < 200)
-        RMotor.speed(.4);
+        RMotor.speed(.6);
         RMotor.speed(0);
-        wait(.5);
+        wait(.1);
         Rtot = 0;
         while(Rtot < 200)
-        RMotor.speed(-.4);
+        RMotor.speed(-.6);
         RMotor.speed(0);
-        wait(.5);
+        wait(.1);
         Ltot = 0;
         Rtot = 0;
-        while((Ltot +Rtot) < 2000){
-        RMotor.speed(.4);
-        LMotor.speed(-.4);}
+        while((Ltot +Rtot) < 2500){
+        RMotor.speed(.6);
+        LMotor.speed(-.6);}
         RMotor.speed(0);
         LMotor.speed(0);
         Instr=0;